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Space transfer vehicle concepts and requirements. Volume 1: Executive summary

The objectives of the Space Transfer Vehicle (STV) Concepts and Requirements studies were to provide sensitivity data on usage, economics, and technology associated with new space transportation systems. The study was structured to utilize data on the emerging launch vehicles, the latest mission scenarios, and Space Exploration Initiative (SEI) payload manifesting and schedules, to define a flexible, high performance, cost effective, evolutionary space transportation system for NASA. Initial activities were to support the MSFC effort in the preparation of inputs to the 90 Day Report to the National Space Council (NSC). With the results of this study establishing a point-of-departure for continuing the STV studies in 1990, additional options and mission architectures were defined. The continuing studies will update and expand the parametrics, assess new cargo and manned ETO vehicles, determine impacts on the redefined Phase 0 Space Station Freedom, and to develop a design that encompasses adequate configuration flexibility to ensure compliance with on-going NASA study recommendations with major system disconnects. In terms of general requirements, the objectives of the STV system and its mission profiles will address crew safety and mission success through a failure-tolerant and forgiving design approach. These objectives were addressed through the following: engine-out capability for all mission phases; built-in-test for vehicle health monitoring to allow testing of all critical functions such as, verification of lunar landing and ascent engines before initiating the landing sequence; critical subsystems will have multiple strings for redundancy plus adequate supplies of onboard spares for removal and replacement of failed items; crew radiation protection; and trajectories that optimize lunar and Mars performance and flyby abort capabilities.

Source record↗

Sample Acquisition and Analytical Chemistry Challenges to Verifying Compliance to Aviators Breathing Oxygen (ABO) Purity Specification

NASA has been developing and testing two different types of oxygen separation systems. One type of oxygen separation system uses pressure swing technology, the other type uses a solid electrolyte electrochemical oxygen separation cell. Both development systems have been subjected to long term testing, and performance testing under a variety of environmental and operational conditions. Testing these two systems revealed that measuring the product purity of oxygen, and determining if an oxygen separation device meets Aviator's Breathing Oxygen (ABO) specifications is a subtle and sometimes difficult analytical chemistry job. Verifying product purity of cryogenically produced oxygen presents a different set of analytical chemistry challenges. This presentation will describe some of the sample acquisition and analytical chemistry challenges presented by verifying oxygen produced by an oxygen separator - and verifying oxygen produced by cryogenic separation processes. The primary contaminant that causes gas samples to fail to meet ABO requirements is water. The maximum amount of water vapor allowed is 7 ppmv. The principal challenge of verifying oxygen produced by an oxygen separator is that it is produced relatively slowly, and at comparatively low temperatures. A short term failure that occurs for just a few minutes in the course of a 1 week run could cause an entire tank to be rejected. Continuous monitoring of oxygen purity and water vapor could identify problems as soon as they occur. Long term oxygen separator tests were instrumented with an oxygen analyzer and with an hygrometer: a GE Moisture Monitor Series 35. This hygrometer uses an aluminum oxide sensor. The user's manual does not report this, but long term exposure to pure oxygen causes the aluminum oxide sensor head to bias dry. Oxygen product that exceeded the 7 ppm specification was improperly accepted, because the sensor had biased. The bias is permanent - exposure to air does not cause the sensor to return to its original response - but the bias can be accounted for by recalibrating the sensor. After this issue was found, continuous measurements of water vapor in the oxygen product were made using an FTIR. The FTIR cell is relatively large, so response time is slow - but moisture measurements were repeatable and accurate. Verifying ABO compliance for oxygen produced by commercial cryogenic processes has a different set of sample acquisition and analytical chemistry challenges. Customers want analytical chemists to conserve as much as possible. Hygrometers are not exposed to hours of continuous flow of oxygen, so they don't bias, but small amounts of contamination in valves can cause a "fail". K bottles are periodically cleaned and recertified - after cleaning residual moisture can cause a "fail". Operators let bottle pressure drop to room pressure, introduce outside air into the bottle, and the subsequent fill will "fail". Outside storage of K‐bottles has allowed enough in‐leakage, so contents will "fail".

Graf, John↗

Safeguard: Progress and Test Results for a Reliable Independent On-Board Safety Net for UAS

As demands increase to use unmanned aircraft systems (UAS) for a broad spectrum of commercial applications, regulatory authorities are examining how to safely integrate them without compromising safety or disrupting traditional airspace operations. For small UAS, several operational rules have been established; e.g., do not operate beyond visual line-of-sight, do not fly within five miles of a commercial airport, do not fly above 400 feet above ground level. Enforcing these rules is challenging for UAS, as evidenced by the number of incident reports received by the Federal Aviation Administration (FAA). This paper reviews the development of an onboard system - Safeguard - designed to monitor and enforce conformance to a set of operational rules defined prior to flight (e.g., geospatial stay-out or stay-in regions, speed limits, and altitude constraints). Unlike typical geofencing or geo-limitation functions, Safeguard operates independently of the off-the-shelf UAS autopilot and is designed in a way that can be realized by a small set of verifiable functions to simplify compliance with existing standards for safety-critical systems (e.g. for spacecraft and manned commercial transportation aircraft systems). A framework is described that decouples the system from any other devices on the UAS as well as introduces complementary positioning source(s) for applications that require integrity and availability beyond what can be provided by the Global Positioning System (GPS). This paper summarizes the progress and test results for Safeguard research and development since presentation of the design concept at the 35th Digital Avionics Systems Conference (DASC '16). Significant accomplishments include completion of software verification and validation in accordance with NASA standards for spacecraft systems (to Class B), development of improved hardware prototypes, development of a simulation platform that allows for hardware-in-the-loop testing and fast-time Monte Carlo evaluations, and flight testing on multiple air vehicles. Integration testing with NASA's UAS Traffic Management (UTM) service-oriented architecture was also demonstrated.

Young, Steven D.↗

Research to Operations: The Critical Transition

Space Life Sciences Directorate (SLSD) specializes in transitioning technology and knowledge to medical operations. This activity encompasses funding a spectrum of research and technology efforts, such as understanding fundamental biological mechanisms altered by microgravity and executing technology watches for state of the art diagnostic imaging equipment. This broad spectrum approach to fulfilling the need to protect crewmember health and performance during long and short duration missions to the International Space Station, moon and Mars is made possible by having a line of site between research and operations. Currently, SLSD's line of site is articulated in a transition to medical practice (TMP) process. This process is designed to shepherd information and knowledge gained through fundamental and mechanistic research toward the development of an operational solution such as a pre-flight selection criteria; an in-flight countermeasure, monitoring capability or treatment; or a post-flight reconditioning program. The TMP process is also designed to assist with the customization of mature hardware or technology for NASA specific use. The benefits of this process are that the concept of operational usability is interjected early in the research, design, or acquisition phase, and stakeholders are involved early to identify requirements and also periodically asked to assess requirements compliance of research or technology development project. Currently a device known as the actiwatch is being assessed for the final transition to operational use. Specific examples of research to operations transition success help to illustrate the process and bolster communication between the research and medical operations communities.

Fogarty, Jennifer A.↗

Noninvasive Intracranial Volume and Pressure Measurements Using Ultrasound (Head and Spinal)

Prevention of secondary brain injuries following head trauma can be accomplished most easily when intracranial pressure (ICP) is monitored. However, current measurement techniques are invasive and thus not practical in the combat environment. The Pulsed Phase Lock Loop device, which was developed and patented by consultants Drs. Yost and Cantrell, uses a unique, noninvasive ultrasonic phase comparison method to measure slight changes in cranial volume which occur with changes in ICP. Year two studies included whole body head-up and head-down tilting effects on intracranial compliance and pressure in six healthy volunteers.

Hargens, Alan R.↗

NASA's Upper Atmosphere Research Program UARP and Atmospheric Chemistry Modeling and Analysis Program (ACMAP): Research Summaries 1994 - 1996. Report to Congress and the Environmental Protection Agency

Under the mandate contained in the FY 1976 NASA Authorization Act, the National Aeronautics and Space Administration (NASA) has developed and is implementing a comprehensive program of research, technology, and monitoring of the Earth's upper atmosphere, with emphasis on the stratosphere. This program aims at expanding our understanding to permit both the quantitative analysis of current perturbations as well as the assessment of possible future changes in this important region of our environment. It is carried out jointly by the Upper Atmosphere Research Program (UARP) and the Atmospheric Chemistry Modeling and Analysis Program (ACMAP), both managed within the Science Division in the Office of Mission to Planet Earth at NASA. Significant contributions to this effort are also provided by the Atmospheric Effects of Aviation Project (AEAP) of NASA's Office of Aeronautics. The long-term objectives of the present program are to perform research to: understand the physics, chemistry, and transport processes of the upper atmosphere and their effect on the distribution of chemical species in the stratosphere, such as ozone; understand the relationship of the trace constituent composition of the lower stratosphere and the lower troposphere to the radiative balance and temperature distribution of the Earth's atmosphere; and accurately assess possible perturbations of the upper atmosphere caused by human activities as well as by natural phenomena. In compliance with the Clean Air Act Amendments of 1990, Public Law 101-549, NASA has prepared a report on the state of our knowledge of the Earth's upper atmosphere, particularly the stratosphere, and on the progress of UARP and ACMAP. The report for the year 1996 is composed of two parts. Part 1 summarizes the objectives, status, and accomplishments of the research tasks supported under NASA UARP and ACMAP in a document entitled, Research Summary 1994-1996. Part 2 is entitled Present State of Knowledge of the Upper Atmosphere 1996.- An Assessment Report. It consists primarily of the Executive Summary and Chapter Summaries of the World Meteorological Organization Global Ozone Research and Monitoring Project Report No. 37, Scientific Assessment of Ozone Depletion: 1994, sponsored by NASA, the National Oceanic and Atmospheric Administration (NOAA), the UK Department of the Environment, the United Nations Environment Program, and the World Meteorological Organization. Other sections of Part 11 include summaries of the following: an Atmospheric Ozone Research Plan from NASA's Office of Mission to Planet Earth; summaries from a series of Space Shuttle-based missions and two recent airborne measurement campaigns; the Executive Summary of the 1995 Scientific Assessment of the Atmospheric Effects of Stratospheric Aircraft, and the most recent evaluation of photochemical and chemical kinetics data (Evaluation No. 12 of the NASA Panel for Data Evaluation) used as input parameters for atmospheric models.

Kendall, Rose↗

Modeling for Ultrasonic Health Monitoring of Foams with Embedded Sensors

In this report analytical and numerical methods are proposed to estimate the effective elastic properties of regular and random open-cell foams. The methods are based on the principle of minimum energy and on structural beam models. The analytical solutions are obtained using symbolic processing software. The microstructure of the random foam is simulated using Voronoi tessellation together with a rate-dependent random close-packing algorithm. The statistics of the geometrical properties of random foams corresponding to different packing fractions have been studied. The effects of the packing fraction on elastic properties of the foams have been investigated by decomposing the compliance into bending and axial compliance components. It is shown that the bending compliance increases and the axial compliance decreases when the packing fraction increases. Keywords: Foam; Elastic properties; Finite element; Randomness

Wang, L.↗

2014 ISS Potable Water Characterization and Continuation of the DMSD Chronicle

During 2014 the crews from Expeditions 38-41 were resident on the International Space Station (ISS). In addition to the U.S. potable water reclaimed from humidity condensate and urine, the other water supplies available for their use were Russian potable water reclaimed from condensate and Russian ground-supplied potable water. Beginning in June of 2014, and for the fourth time since 2010, the product water from the U.S. Water Processor Assembly (WPA) experienced a rise in the total organic carbon (TOC) level due to organic contaminants breaking through the water treatment process. Results from ground analyses of ISS archival water samples returned on Soyuz 38 confirmed that dimethylsilanediol (DMSD) was once again the contaminant responsible for the rise. With this confirmation in hand and based upon the low toxicity of DMSD, a waiver was approved to allow the crew to continue to consume the water after the TOC level exceeded the U.S. Segment limit of 3 mg/L. Several weeks after the WPA multifiltration beds were replaced, as anticipated based upon experience from previous rises, the TOC levels returned to below the method detection limit of the onboard TOC analyzer (TOCA). This paper presents and discusses the chemical analysis results for the ISS archival potable water samples returned in 2014 and analyzed by the Johnson Space Center's Toxicology and Environmental Chemistry laboratory. These results showed compliance with ISS potable water quality standards and indicated that the potable water supplies were acceptable for crew consumption. Although DMSD levels were at times elevated they remained well below the 35 mg/L health limit, so continued consumption of the U.S potable water was considered a low risk to crew health and safety. Excellent agreement between inflight and archival sample TOC data confirmed that the TOCA performed optimally and it continued to serve as a vital tool for monitoring organic breakthrough and planning remediation action.

Straub, John E., II↗

2014 ISS Potable Water Characterization and Continuation of the Dimethylsilanediol Chronicle

During 2014 the crews from Expeditions 38-41 were in residence on the International Space Station (ISS). In addition to the U.S. potable water reclaimed from humidity condensate and urine, the other water supplies available for their use were Russian potable water reclaimed from condensate and Russian ground-supplied potable water. Beginning in June of 2014 and for the fourth time since 2010, the product water from the U.S. water processor assembly (WPA) experienced a rise in the total organic carbon (TOC) level due to organic contaminants breaking through the water treatment process. Results from ground analyses of ISS archival water samples returned on Soyuz 38 confirmed that dimethylsilanediol was once again the contaminant responsible for the rise. With this confirmation in hand and based upon the low toxicity of dimethylsilanediol, a waiver was approved to allow the crew to continue to consume the water after the TOC level exceeded the U.S. Segment limit of 3 mg/L. Several weeks after the WPA multifiltration beds were replaced, the TOC levels returned to below the method detection limit of the onboard TOC analyzer (TOCA) as anticipated based upon experience from previous rises. This paper presents and discusses the chemical analysis results for the ISS archival potable-water samples returned in 2014 and analyzed by the Johnson Space Center's Toxicology and Environmental Chemistry laboratory. These results showed compliance with ISS potable water quality standards and indicated that the potable-water supplies were acceptable for crew consumption. Although dimethylsilanediol levels were at times elevated, they remained well below the 35 mg/L health limit so the continued consumption of the U.S. potable water was considered a low risk to crew health and safety. Excellent agreement between in-flight and archival sample TOC data confirmed that the TOCA performed optimally and continued to serve as a vital tool for monitoring organic breakthrough and planning remediation action.

Straub, John E., II↗

Potential utility of the thematic mapper for surface mine monitoring

One of many potential applications of the thematic mapper (TM) is surface mine monitoring. To assess this potential, data acquired by an aircraft multispectral scanner over Pennsylvania surface mines were preprocessed to simulate the anticipated spectral, spatial, and radiometric characteristics of TM data. False color imagery and thematic maps were derived from the simulated data and compared to imagery and maps derived from LANDSAT multispectral scanner subsystems data. On the basis of this comparison, TM data should definitely increase the detail and accuracy of remotely acquired surface mine information and may enable the remote determination of compliance with reclamation regulations.

Irons, J. R.↗

Creep and creep rupture of laminated graphite/epoxy composites

An incremental numerical procedure based on lamination theory is developed to predict creep and creep rupture of general laminates. Existing unidirectional creep compliance and delayed failure data is used to develop analytical models for lamina response. The compliance model is based on a procedure proposed by Findley which incorporates the power law for creep into a nonlinear constitutive relationship. The matrix octahedral shear stress is assumed to control the stress interaction effect. A modified superposition principle is used to account for the varying stress level effect on the creep strain. The lamina failure model is based on a modification of the Tsai-Hill theory which includes the time dependent creep rupture strength. A linear cumulative damage law is used to monitor the remaining lifetime in each ply.

Dillard, D. A.↗

Temperature Knowledge and Model Correlation for the Soil Moisture Active and Passive (SMAP) Reflector Mesh

NASA's Earth observing Soil Moisture Active & Passive (SMAP) Mission is scheduled to launch in November 2014 into a 685 km near-polar, sun synchronous orbit. SMAP will provide comprehensive global mapping measurements of soil moisture and freeze/thaw state in order to enhance understanding of the processes that link the water, energy, and carbon cycles. The primary objectives of SMAP are to improve worldwide weather and flood forecasting, enhance climate prediction, and refine drought and agriculture monitoring during its 3 year mission. The SMAP instrument architecture incorporates an L-band radar and an L-band radiometer which share a common feed horn and parabolic mesh reflector. The instrument rotates about the nadir axis at approximately 15 rpm, thereby providing a conically scanning wide swath antenna beam that is capable of achieving global coverage within 3 days. In order to make the necessary precise surface emission measurements from space, a temperature knowledge of 60 deg C for the mesh reflector is required. In order to show compliance, a thermal vacuum test was conducted using a portable solar simulator to illuminate a non flight, but flight-like test article through the quartz window of the vacuum chamber. The molybdenum wire of the antenna mesh is too fine to accommodate thermal sensors for direct temperature measurements. Instead, the mesh temperature was inferred from resistance measurements made during the test. The test article was rotated to five separate angles between 10 deg and 90 deg via chamber breaks to simulate the maximum expected on-orbit solar loading during the mission. The resistance measurements were converted to temperature via a resistance versus temperature calibration plot that was constructed from data collected in a separate calibration test. A simple thermal model of two different representations of the mesh (plate and torus) was created to correlate the mesh temperature predictions to within 60 deg C. The on-orbit mesh temperature will be predicted using the correlated analytical thermal model since direct measurements from in-situ flight thermal sensors are not possible.

Mikhaylov, Rebecca↗

Planetary Protection Considerations for Life Support and Habitation Systems

Life support systems for future human missions beyond low Earth orbit may include a combination of existing hardware components and advanced technologies. Discipline areas for technology development include atmosphere revitalization, water recovery, solid waste management, crew accommodations, food production, thermal systems, environmental monitoring, fire protection and radiation protection. Life support systems will be influenced by in situ resource utilization (ISRU), crew mobility and the degree of extravehicular activity. Planetary protection represents an additional set of requirements that technology developers have generally not considered. Planetary protection guidelines will affect the kind of operations, processes, and functions that can take place during future exploration missions, including venting and discharge of liquids and solids, ejection of wastes, use of ISRU, requirements for cabin atmospheric trace contaminant concentrations, cabin leakage and restrictions on what materials, organisms, and technologies that may be brought on missions. Compliance with planetary protection requirements may drive development of new capabilities or processes (e.g. in situ sterilization, waste containment, contaminant measurement) and limit or prohibit certain kinds of operations or processes (e.g. unfiltered venting). Ultimately, there will be an effect on mission costs, including the mission trade space. Planetary protection requirements need to be considered early in technology development programs. It is expected that planetary protection will have a major impact on technology selection for future missions.

Barta, Daniel J.↗

NASA’s Space Sustainability Strategy: An Overview and a Conceptual Framework for Implementation

Space sustainability is crucial for the continuation of humanity's exploration and utilization of space. NASA recognizes the imperative of maintaining a sustainable space operating environment to safeguard the future of space activities. On April 9, 2024, NASA released its first part of an integrated Space Sustainability Strategy focused on the domain of earth orbit, with future volumes to address impacts of space operations on earth itself; cislunar space, including the Lagrange points and the lunar surface; and deep space, including other celestial bodies. This commitment extends to ensuring the safety of astronauts conducting operations in Low Earth Orbit (LEO), as well as enabling missions to the Moon and Mars. Moreover, sustainable space practices are essential for the uninterrupted operation of NASA's robotic science missions, which monitor Earth's changes and probe the mysteries of the universe. The strategy sets out a set of goals, the first of which is to establish a framework for assessing space sustainability at NASA, addressing the absence of a universally accepted framework with key metrics that promotes understanding of how metrics are interconnected. This framework will provide a basis for evaluating the sustainability of orbital activities, with metrics informed by input from the domestic and international space community. Objectives under this goal include defining key parameters affecting space sustainability, determining tolerable levels of risk, and annually publishing NASA's effect on space sustainability, including compliance with orbital debris mitigation standards. The subsequent goals build upon this foundation, identifying effective actions for enhancing space sustainability, incentivizing adoption of these actions through technology development and policy changes, and ensuring coordination with the global space community. An organizational change within NASA is also proposed to facilitate day-to-day coordination and accountability for space sustainability efforts. By pursuing these goals, NASA aims to strengthen the technical foundations of and continue to set an example for sustainable space operations. Regular evaluation of NASA mission performance in context with meeting sustainability objectives will ensure alignment with evolving challenges in the space operating environment.

Matt Forsbacka↗

A new process and equipment for waste minimization: Conversion of NO(x) scrubber liquor to fertilizer

A new emissions control system for the oxidizer scrubbers that eliminates the current oxidizer liquor waste and lowers the NO(x) emissions is described. Since fueling and deservicing spacecraft constitute the primary operations in which environmental emissions occur, this will eliminate the second largest waste stream at KSC. This effort is in accord with Executive Order No. 12856 (Federal Compliance with Right-to-Know Laws and Pollution Prevention Requirements, data 6 Aug. 1993) and Executive Order No. 12873 (Federal Acquisition, Recycling, and Waste Prevention, dated 20 Oct. 1993). A recent study found that the efficiencies of the oxidizer scrubbers during normal operations ranged from 70 percent to 99 percent. The new scrubber liquor starts with 1% hydrogen peroxide at a pH of 7 and the process control system adds hydrogen peroxide and potassium hydroxide to the scrubber liquor to maintain those initial conditions. The result is the formation of a solution of potassium nitrate, which is sold as a fertilizer. This report describes the equipment and procedures used to monitor and control the conversion of the scrubber liquor to fertilizer, while reducing the scrubber emissions.

Parrish, Clyde F.↗

International Space Station Potable Water Characterization for 2013

In this post-construction, operational phase of International Space Station (ISS) with an ever-increasing emphasis on its use as a test-bed for future exploration missions, the ISS crews continue to rely on water reclamation systems for the majority of their water needs. The onboard water supplies include US Segment potable water from humidity condensate and urine, Russian Segment potable water from condensate, and ground-supplied potable water, as reserve. In 2013, the cargo returned on the Soyuz 32-35 flights included archival potable water samples collected from Expeditions 34-37. The Water and Food Analytical Laboratory at the NASA Johnson Space Center continued its long-standing role of performing chemical analyses on ISS return water samples to verify compliance with potable water quality specifications. This paper presents and discusses the analytical results for potable water samples returned from Expeditions 34-37, including a comparison to ISS quality standards. During the summer of 2013, the U.S. Segment potable water experienced an anticipated temporary rise and fall in total organic carbon (TOC) content, as the result of organic contamination breaking through the water system's treatment process. Analytical results for the Expedition 36 archival samples returned on Soyuz 34 confirmed that dimethylsilanediol was once again the responsible contaminant, just as it was for comparable TOC rises in 2010 and 2012. Discussion herein includes the use of the in-flight Total Organic Carbon Analyzer (TOCA) as a key monitoring tool for tracking these TOC rises and scheduling appropriate remediation action.

Straub, John E. II↗

International Space Station Potable Water Characterization for 2013

In this post-construction, operational phase of International Space Station (ISS) with an ever-increasing emphasis on its use as a test-bed for future exploration missions, the ISS crews continue to rely on water reclamation systems for the majority of their water needs. The onboard water supplies include U.S. Segment potable water from humidity condensate and urine, Russian Segment potable water from condensate, and ground-supplied potable water, as reserve. In 2013, the cargo returned on the Soyuz 32-35 flights included archival potable water samples collected from Expeditions 34-37. The former Water and Food Analytical Laboratory (now Toxicology and Evironmental Chemistry Laboratory) at the NASA Johnson Space Center continued its long-standing role of performing chemical analyses on ISS return water samples to verify compliance with potable water quality specifications. This paper presents and discusses the analytical results for potable water samples returned from Expeditions 34-37, including a comparison to ISS quality standards. During the summer of 2013, the U.S. Segment potable water experienced a third temporary rise and fall in total organic carbon (TOC) content, as the result of organic contamination breaking through the water system's treatment process. Analytical results for the Expedition 36 archival samples returned on Soyuz 34 confirmed that dimethylsilanediol was once again the responsible contaminant, just as it was for the previous comparable TOC rises in 2010 and 2012. Discussion herein includes the use of the in-flight total organic carbon analyzer (TOCA) as a key monitoring tool for tracking these TOC rises and scheduling appropriate remediation.

Straub, John E., II↗

Effect of design factors on surface temperature and wear in disk brakes

The temperatures, friction, wear and contact conditions that occur in high energy disk brakes are studied. Surface and near surface temperatures were monitored at various locations in a caliper disk brake during drag type testing, with friction coefficient and wear rates also being determined. The recorded transient temperature distributions in the friction pads and infrared photographs of the rotor disk surface both showed that contact at the friction surface was not uniform, with contact areas constantly shifting due to nonuniform thermal expansion and wear. The effect of external cooling and of design modifications on friction, wear and temperatures was also investigated. It was found that significant decreases in surface temperature and in wear rate can be achieved without a reduction in friction either by slotting the contacting face of the brake pad or by modifying the design of the pad support to improve pad compliance. Both design changes result in more uniform contact conditions on the friction surface.

Santini, J. J.↗