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NASA NTRS2007

Comparison of V-4 and V-5 Exercise/Oxygen Prebreathe Protocols to Support Extravehicular Activity in Microgravity

The Prebreathe Reduction Program (PRP) used exercise during oxygen prebreathe to reduce necessary prebreathe time prior to depressurizing to work in a 4.3 psi suit during extravehicular activity (EVA). Initial testing produced a two-hour protocol incorporating ergometry exercise and a 30 min cycle of depress/repress to 10.2 psi where subjects breathed 26.5% oxygen/balance nitrogen (Phase II - 10 min at 75% peak oxygen consumption [VO2 peak] followed by 40 min intermittent light exercise [ILE] [approx. 5.8 mL-per kilogram- per minute], then 50 min of rest). The Phase II protocol (0/45 DCS) was approved for operations and has been used on 40 EVAs, providing significant time savings compared to the standard 4 h resting oxygen prebreathe. The Phase V effort focused on performing all light in-suit exercise. Two oxygen prebreathe protocols were tested sequentially: V-4) 160 min prebreathe with 150 min of continuous ILE. The entire protocol was completed at 14.7 psi. All exercise involved upper body effort. Exercise continued until decompression. V-5) 160 min prebreathe with 140 min of ILE - first 40 min at 14.7 psi, then 30 min at 10.2 psi (breathing 26.5% oxygen) after a 20 min depress, simulating a suit donning period. Subjects were then repressed to 14.7 psi and performed another 50 min of lower body ILE, followed by 50 min rest before decompression. The V-4 protocol was rejected with 3 DCS/6 person-exposures. Initial V-5 testing has produced 0 DCS/11 person-exposures (ongoing trials). The difference in DCS rate was significant (Fisher Exact p=0.029). The observations of DCS were significantly lower in early V-5 trials than in V-4 trials. Additional studies are required to evaluate the relative contribution of the variables in exercise distribution, the 10.2 psi depress/repress component, pre-decompression rest, or possible variation in total oxygen consumption.

Pollock, N. W.↗

NASA NTRS2008

Prebreathe Protocol for Extravehicular Activity Technical Consultation Report

In the performance of EVA by that National Aeronautics and Space Administration (NASA) astronauts, there exists a risk of DCS as the suit pressure is reduced to 4.3 pounds per square inch, absolute (psia) from the International Space Station (ISS) pressure of 14.7 psia. Several DCS-preventive procedures have been developed and implemented. Each of these procedures involve the use of oxygen (O2) prebreathe to effectively washout tissue nitrogen (N2).The management of the ISS Programs convened an expert independent peer review Team to conduct a review of the Decompression Sickness (DCS) risks associated with the Extra Vehicular Activity (EVA) Campout Prebreathe (PB) protocol for its consideration for use on future missions. The major findings and recommendations of the expert panel are: There is no direct experimental data to confirm the potential DCS risks of the Campout PB protocol. However, based on model data, statistical probability, physiology, and information derived from similar PB protocols, there is no compelling evidence to suggest that the Campout PB protocol is less safe than the other NASA approved PB protocols.

Ross, Jerry↗

NASA NTRS2008

The Interplanetary Overlay Networking Protocol Accelerator

A document describes the Interplanetary Overlay Networking Protocol Accelerator (IONAC) an electronic apparatus, now under development, for relaying data at high rates in spacecraft and interplanetary radio-communication systems utilizing a delay-tolerant networking protocol. The protocol includes provisions for transmission and reception of data in bundles (essentially, messages), transfer of custody of a bundle to a recipient relay station at each step of a relay, and return receipts. Because of limitations on energy resources available for such relays, data rates attainable in a conventional software implementation of the protocol are lower than those needed, at any given reasonable energy-consumption rate. Therefore, a main goal in developing the IONAC is to reduce the energy consumption by an order of magnitude and the data-throughput capability by two orders of magnitude. The IONAC prototype is a field-programmable gate array that serves as a reconfigurable hybrid (hardware/ firmware) system for implementation of the protocol. The prototype can decode 108,000 bundles per second and encode 100,000 bundles per second. It includes a bundle-cache static randomaccess memory that enables maintenance of a throughput of 2.7Gb/s, and an Ethernet convergence layer that supports a duplex throughput of 1Gb/s.

Pang, Jackson↗

NASA NTRS2010

Using Integer Clocks to Verify the Timing-Sync Sensor Network Protocol

We use the UPPAAL model checker for Timed Automata to verify the Timing-Sync time-synchronization protocol for sensor networks (TPSN). The TPSN protocol seeks to provide network-wide synchronization of the distributed clocks in a sensor network. Clock-synchronization algorithms for sensor networks such as TPSN must be able to perform arithmetic on clock values to calculate clock drift and network propagation delays. They must be able to read the value of a local clock and assign it to another local clock. Such operations are not directly supported by the theory of Timed Automata. To overcome this formal-modeling obstacle, we augment the UPPAAL specification language with the integer clock derived type. Integer clocks, which are essentially integer variables that are periodically incremented by a global pulse generator, greatly facilitate the encoding of the operations required to synchronize clocks as in the TPSN protocol. With this integer-clock-based model of TPSN in hand, we use UPPAAL to verify that the protocol achieves network-wide time synchronization and is devoid of deadlock. We also use the UPPAAL Tracer tool to illustrate how integer clocks can be used to capture clock drift and resynchronization during protocol execution

Huang, Xiaowan↗

NASA NTRS2011

Performance Comparison of Wireless Sensor Network Standard Protocols in an Aerospace Environment: ISA100.11a and ZigBee

Wireless Sensor Networks (WSNs) can provide a substantial benefit in spacecraft systems, reducing launch weight and providing unprecedented flexibility by allowing instrumentation capabilities to grow and change over time. Achieving data transport reliability on par with that of wired systems, however, can prove extremely challenging in practice. Fortunately, much progress has been made in developing standard WSN radio protocols for applications from non-critical home automation to mission-critical industrial process control. The relative performances of candidate protocols must be compared in representative aerospace environments, however, to determine their suitability for spaceflight applications. In this paper, we will present the results of a rigorous laboratory analysis of the performance of two standards-based, low power, low data rate WSN protocols: ZigBee Pro and ISA100.11a. Both are based on IEEE 802.15.4 and augment that standard's specifications to build complete, multi-hop networking stacks. ZigBee Pro targets primarily the home and office automation markets, providing an ad-hoc protocol that is computationally lightweight and easy to implement in inexpensive system-on-a-chip components. As a result of this simplicity, however, ZigBee Pro can be susceptible to radio frequency (RF) interference. ISA100.11a, on the other hand, targets the industrial process control market, providing a robust, centrally-managed protocol capable of tolerating a significant amount of RF interference. To achieve these gains, a coordinated channel hopping mechanism is employed, which entails a greater computational complexity than ZigBee and requires more sophisticated and costly hardware. To guide future aerospace deployments, we must understand how well these standards relatively perform in analog environments under expected operating conditions. Specifically, we are interested in evaluating goodput -- application level throughput -- in a representative crewed environment in the presence of varying levels of 802.11g Wi-Fi traffic. To do so, we use the NASA Johnson Space Center Wireless Habitat Testbed (WHT), a metallic, habitation-sized module designed for co-existence testing of wireless systems. In its quiescent state, the sealed WHT provides an RF-quiet environment to which we can selectively add interfering systems; it also provides a realistic level of multi-path self-interference for systems under investigation. In our test, we deploy two representative five node networks, configured in a star topology with all nodes reporting directly to a WSN gateway. Each ZigBee network WSN node is built using a Texas Instruments (TI) CC2530 system-on-a-chip radio running TI's ZigBee Pro Z-stack. Each ISA100.11a network node is built using a Nivis VersaNode 210 system-on-a-chip radio. In both cases, radios interface with TI MSP430-F5438 microcontroller implementing a common test application. Interference is provided by a D-link 802.11g Wi-Fi router transporting traffic generated using the Iperf network testing tool. For the single-channel ZigBee network, effects of both direct and indirect Wi-Fi interference are evaluated. For the channel-hopping ISA100.11a network, effects of interference from multiple Wi-Fi routers configured in non-overlapping 802.11g channels are evaluated. Our results show that, in general, the more lightweight ZigBee network performs well at low interference levels, but performance degrades as interference increases. Conversely, the more complex and costly ISA100.11a network continues to perform well as Wi-Fi interference levels increase.

Wagner, Raymond S.↗

NASA NTRS2011

Performance Comparison of Wireless Sensor Network Standard Protocols in an Aerospace Environment: ISA100.11a and ZigBee Pro

Standards-based wireless sensor network (WSN) protocols are promising candidates for spacecraft avionics systems, offering unprecedented instrumentation flexibility and expandability. Ensuring reliable data transport is key, however, when migrating from wired to wireless data gathering systems. In this paper, we conduct a rigorous laboratory analysis of the relative performances of the ZigBee Pro and ISA100.11a protocols in a representative crewed aerospace environment. Since both operate in the 2.4 GHz radio frequency (RF) band shared by systems such as Wi-Fi, they are subject at times to potentially debilitating RF interference. We compare goodput (application-level throughput) achievable by both under varying levels of 802.11g Wi-Fi traffic. We conclude that while the simpler, more inexpensive ZigBee Pro protocol performs well under moderate levels of interference, the more complex and costly ISA100.11a protocol is needed to ensure reliable data delivery under heavier interference. This paper represents the first published, rigorous analysis of WSN protocols in an aerospace environment that we are aware of and the first published head-to-head comparison of ZigBee Pro and ISA100.11a.

Wagner, Raymond S.↗

NASA NTRS2011

Initial Characterization of Optical Communications with Disruption-Tolerant Network Protocols

Disruption-tolerant networks (DTNs) are groups of network assets connected with a suite of communication protocol technologies designed to mitigate the effects of link delay and disruption. Application of DTN protocols to diverse groups of network resources in multiple sub-networks results in an overlay network-of-networks with autonomous data routing capability. In space environments where delay or disruption is expected, performance of this type of architecture (such as an interplanetary internet) can increase with the inclusion of new communications mediums and techniques. Space-based optical communication links are therefore an excellent building block of space DTN architectures. When compared to traditional radio frequency (RF) communications, optical systems can provide extremely power-efficient and high bandwidth links bridging sub-networks. Because optical links are more susceptible to link disruption and experience the same light-speed delays as RF, optical-enabled DTN architectures can lessen potential drawbacks and maintain the benefits of autonomous optical communications over deep space distances. These environment-driven expectations - link delay and interruption, along with asymmetric data rates - are the purpose of the proof-of-concept experiment outlined herein. In recognizing the potential of these two technologies, we report an initial experiment and characterization of the performance of a DTN-enabled space optical link. The experiment design employs a point-to-point free-space optical link configured to have asymmetric bandwidth. This link connects two networked systems running a DTN protocol implementation designed and written at JPL for use on spacecraft, and further configured for higher bandwidth performance. Comparing baseline data transmission metrics with and without periodic optical link interruptions, the experiment confirmed the DTN protocols' ability to handle real-world unexpected link outages while maintaining capability of reliably delivering data at relatively high rates. Finally, performance characterizations from this data suggest performance optimizations to configuration and protocols for future optical-specific DTN space link scenarios.

Space networking↗

NASA NTRS2012

Replacing the CCSDS Telecommand Protocol with the Next Generation Uplink (NGU)

The current CCSDS Telecommand (TC) Recommendations 1-3 have essentially been in use since the early 1960s. The purpose of this paper is to propose a successor protocol to TC. The current CCSDS recommendations can only accommodate telecommand rates up to approximately 1 mbit/s. However today's spacecraft are storehouses for software including software for Field Programmable Gate Arrays (FPGA) which are rapidly replacing unique hardware systems. Changes to flight software occasionally require uplinks to deliver very large volumes of data. In the opposite direction, high rate downlink missions that use acknowledged CCSDS File Delivery Protocol (CFDP)4 will increase the uplink data rate requirements. It is calculated that a 5 mbits/s downlink could saturate a 4 kbits/s uplink with CFDP downlink responses: negative acknowledgements (NAKs), FINISHs, End-of-File (EOF), Acknowledgements (ACKs). Moreover, it is anticipated that uplink rates of 10 to 20 mbits/s will be required to support manned missions. The current TC recommendations cannot meet these new demands. Specifically, they are very tightly coupled to the Bose-Chaudhuri-Hocquenghem (BCH) code in Ref. 2. This protocol requires that an uncorrectable BCH codeword delimit the TC frame and terminate the randomization process. This method greatly limits telecom performance since only the BCH code can support the protocol. More modern techniques such as the CCSDS Low Density Parity Check (LDPC)5 codes can provide a minimum performance gain of up to 6 times higher command data rates as long as sufficient power is available in the data. This paper will describe the proposed protocol format, trade-offs, and advantages offered, along with a discussion of how reliable communications takes place at higher nominal rates.

Consultative Committee for Space Data Systems (CCS↗

NASA NTRS2010

Space Network Time Distribution and Synchronization Protocol Development for Mars Proximity Link

Time distribution and synchronization in deep space network are challenging due to long propagation delays, spacecraft movements, and relativistic effects. Further, the Network Time Protocol (NTP) designed for terrestrial networks may not work properly in space. In this work, we consider the time distribution protocol based on time message exchanges similar to Network Time Protocol (NTP). We present the Proximity-1 Space Link Interleaved Time Synchronization (PITS) algorithm that can work with the CCSDS Proximity-1 Space Data Link Protocol. The PITS algorithm provides faster time synchronization via two-way time transfer over proximity links, improves scalability as the number of spacecraft increase, lowers storage space requirement for collecting time samples, and is robust against packet loss and duplication which underlying protocol mechanisms provide.

In Situ Time Distribution↗

NASA NTRS2018

Development of a Ground Test and Analysis Protocol for NASA's NextSTEP Phase 2 Habitation Concepts

The NASA Next Space Technologies for Exploration Partnerships (NextSTEP) program is a public-private partnership model that seeks commercial development of deep space exploration capabilities to support human spaceflight missions around and beyond cislunar space. NASA first issued the Phase 1 NextSTEP Broad Agency Announcement to U.S. industries in 2014, which called for innovative cislunar habitation concepts that leveraged commercialization plans for low-Earth orbit. These habitats will be part of the Deep Space Gateway (DSG), the cislunar space station planned by NASA for construction in the 2020s. In 2016, Phase 2 of the NextSTEP program selected five commercial partners to develop ground prototypes. A team of NASA research engineers and subject matter experts (SMEs) have been tasked with developing the ground-test protocol that will serve as the primary means by which these Phase 2 prototypes will be evaluated. Since 2008, this core test team has successfully conducted multiple spaceflight analog mission evaluations utilizing a consistent set of operational tools, methods, and metrics to enable the iterative development, testing, analysis, and validation of evolving exploration architectures, operations concepts, and vehicle designs. The purpose of implementing a similar evaluation process for the Phase 2 Habitation Concepts is to consistently evaluate different commercial partner ground prototypes to provide data-driven, actionable recommendations for Phase 3. This paper describes the process by which the ground test protocol was developed and the objectives, methods, and metrics by which the NextSTEP Phase 2 Habitation Concepts will be rigorously and systematically evaluated. The protocol has been developed using both a top-down and bottom-up approach. Top-down development began with the Human Exploration and Operations Mission Directorate (HEOMD) exploration objectives and ISS Exploration Capability Study Team (IECST) candidate flight objectives. Strategic questions and associated rationales, derived from these candidate architectural objectives, provide the framework by which the ground-test protocol will address the DSG stack elements and configurations, systems and subsystems, and habitation, science, and EVA functions. From these strategic questions, high-level functional requirements for the DSG were drafted and associated ground-test objectives and analysis protocols were established. Bottom-up development incorporated objectives from NASA SMEs in autonomy, avionics and software, communication, environmental control and life support systems, exercise, extravehicular activity, exploration medical operations, guidance navigation and control, human factors and behavioral performance, human factors and habitability, logistics, Mission Control Center operations, power, radiation, robotics, safety and mission assurance, science, simulation, structures, thermal, trash management, and vehicle health. Top-down and bottom-up objectives were integrated to form overall functional requirements - ground-test objectives and analysis mapping. From this mapping, ground-test objectives were organized into those that will be evaluated through inspection, demonstration, analysis, subsystem standalone testing, and human-in-the-loop (HITL) testing. For the HITL tests, mission-like timelines, procedures, and flight rules have been developed to directly meet ground test objectives and evaluate specific functional requirements. Data collected from these assessments will be analyzed to determine the acceptability of habitation element configurations and the combinations of capabilities that will result in the best habitation platform to be recommended by the test team for Phase 3.

Gernhardt, Michael L.↗

NASA NTRSDate not supplied

Validation of Decompression Sickness Risk Mitigation Protocols for Planetary Spaceflight Missions

BACKGROUND: Apollo missions used a 100% O2 cabin atmosphere which effectively eliminated the risk of decompression sickness (DCS) during extravehicular activity (EVA) on the moon. NASA’s future missions to the moon and Mars are expected to use nitrox gas mixtures of up to 34% O2, 66% N2, which will reduce flammability risk compared with Apollo, but will necessitate Oxygen prebreathe prior to EVA to reduce DCS risk to acceptable levels. Prebreathe protocols used on the space shuttle and International Space Station are validated for microgravity EVAs, but the significantly increased risk of DCS during equivalent ambulatory EVAs make these protocols inapplicable to planetary EVA. An “exploration atmosphere” of 56.5 kPa (8.2 psia), 34% O2, 66% N2 has been recommended by NASA as a compromise that balances prebreathe duration, hypoxia, and flammability risk, assuming a 29.6 kPa (4.3 psi) spacesuit. However, this atmosphere may not be used for vehicles that do not support frequent EVA, and with commercial providers and international providers expected to provide landers, pressurized rovers, habitats, and spacesuits, different combinations of vehicle and spacesuit atmospheres are possible and will each require validated prebreathe protocols. OVERVIEW: Key components of a multi-year strategic roadmap include: 1) Establish hypobaric chamber facility capable of supporting 8-person EVA prebreathe validation tests at saturation atmospheres up to 36% O2; 2) validate an EVA physical workload simulation for use during prebreathe validation testing; 3) validate the recommended “exploration atmosphere” prebreathe protocol; 4) validate prebreathe protocols for additional atmospheric combinations that bound the most likely potential operating ranges of future vehicles and spacesuits; and 5) update DCS risk estimation models based on results of prebreathe validation studies. DISCUSSION: Details and data from completion of the first two steps of the strategic roadmap will be presented; the third step is currently underway, with pilot results provided in a companion presentation. Steps four and five will require a multi-year series of chamber tests; collaborations are being pursued.

Andrew F. J. Abercromby↗

NASA NTRS2007

A Demand Access Protocol for Space Applications

This paper describes a demand access protocol for space communications, which is a messaging procedure that facilitates the exchange of resource requests and grants between users and service providers. A minimal set of operational and environmental needs and constraints are assumed since the intent is to keep the protocol flexible and efficient for a wide-range of envisioned NASA robotic and human exploration missions. The protocol described in this document defines the message format and procedures used to ensure proper and correct functioning of a demand access communications system, which must operate under customized resource management policies applied by the users and service providers. This protocol also assumes a minimal set of capabilities from the underlying communications system so that no unique requirements are imposed on the communications sub-systems.

demand access↗

NASA NTRS2006

TRIGA: Telecommunications Protocol Processing Subsystem Using Reconfigurable Interoperable Gate Arrays

We present the Telecommunications protocol processing subsystem using Reconfigurable Interoperable Gate Arrays (TRIGA), a novel approach that unifies fault tolerance, error correction coding and interplanetary communication protocol off-loading to implement CCSDS File Delivery Protocol and Datalink layers. The new reconfigurable architecture offers more than one order of magnitude throughput increase while reducing footprint requirements in memory, command and data handling processor utilization, communication system interconnects and power consumption.

protocol processing hardware engine↗

NASA NTRS1981

Distributed reservation control protocols for random access broadcasting channels

Attention is given to a communication network consisting of an arbitrary number of nodes which can communicate with each other via a time-division multiple access (TDMA) broadcast channel. The reported investigation is concerned with the development of efficient distributed multiple access protocols for traffic consisting primarily of single packet messages in a datagram mode of operation. The motivation for the design of the protocols came from the consideration of efficient multiple access utilization of moderate to high bandwidth (4-40 Mbit/s capacity) communication satellite channels used for the transmission of short (1000-10,000 bits) fixed length packets. Under these circumstances, the ratio of roundtrip propagation time to packet transmission time is between 100 to 10,000. It is shown how a TDMA channel can be adaptively shared by datagram traffic and constant bandwidth users such as in digital voice applications. The distributed reservation control protocols described are a hybrid between contention and reservation protocols.

Greene, E. P.↗

NASA NTRS1987

Cycle time properties of the FDDI Token Ring Protocol

The FDDI Token Ring Protocol controls communication over fiber optic rings with transmission rates in the range of 100 megabits per second. It is intended to give guaranteed response to time-critical messages by using a 'timed token' protocol, in which noncritical messages may be transmitted only if recent movement of the token among stations has been sufficiently fast relative to a 'target' token rotation line (TTRT). In this paper, two important properties of the protocol are proved. The first is that the average token cycle time is bounded above by the TTRT, and the second is that the maximum token cycle time is at most twice the TTRT. Each property is treated first under the assumption that all overheads are negligible, and second with certain sources of overhead taken into account explicitly. It is found that the proposed standard protocol can be improved for situations of practical interest by a slight modification.

Sevcik, Kenneth C.↗

NASA NTRS1990

CSMA/RN: A universal protocol for gigabit networks

Networks must provide intelligent access for nodes to share the communications resources. In the range of 100 Mbps to 1 Gbps, the demand access class of protocols were studied extensively. Many use some form of slot or reservation system and many the concept of attempt and defer to determine the presence or absence of incoming information. The random access class of protocols like shared channel systems (Ethernet), also use the concept of attempt and defer in the form of carrier sensing to alleviate the damaging effects of collisions. In CSMA/CD, the sensing of interference is on a global basis. All systems discussed above have one aspect in common, they examine activity on the network either locally or globally and react in an attempt and whatever mechanism. Of the attempt + mechanisms discussed, one is obviously missing; that is attempt and truncate. Attempt and truncate was studied in a ring configuration called the Carrier Sensed Multiple Access Ring Network (CSMA/RN). The system features of CSMA/RN are described including a discussion of the node operations for inserting and removing messages and for handling integrated traffic. The performance and operational features based on analytical and simulation studies which indicate that CSMA/RN is a useful and adaptable protocol over a wide range of network conditions are discussed. Finally, the research and development activities necessary to demonstrate and realize the potential of CSMA/RN as a universal, gigabit network protocol is outlined.

Foudriat, E. C.↗

NASA NTRS1990

A carrier sensed multiple access protocol for high data base rate ring networks

The results of the study of a simple but effective media access protocol for high data rate networks are presented. The protocol is based on the fact that at high data rates networks can contain multiple messages simultaneously over their span, and that in a ring, nodes used to detect the presence of a message arriving from the immediate upstream neighbor. When an incoming signal is detected, the node must either abort or truncate a message it is presently sending. Thus, the protocol with local carrier sensing and multiple access is designated CSMA/RN. The performance of CSMA/RN with TTattempt and truncate is studied using analytic and simulation models. Three performance factors, wait or access time, service time and response or end-to-end travel time are presented. The service time is basically a function of the network rate, it changes by a factor of 1 between no load and full load. Wait time, which is zero for no load, remains small for load factors up to 70 percent of full load. Response time, which adds travel time while on the network to wait and service time, is mainly a function of network length, especially for longer distance networks. Simulation results are shown for CSMA/RN where messages are removed at the destination. A wide range of local and metropolitan area network parameters including variations in message size, network length, and node count are studied. Finally, a scaling factor based upon the ratio of message to network length demonstrates that the results, and hence, the CSMA/RN protocol, are applicable to wide area networks.

Foudriat, E. C.↗

NASA NTRS1990

SHAPA: An interactive software tool for protocol analysis applied to aircrew communications and workload

As modern transport environments become increasingly complex, issues such as crew communication, interaction with automation, and workload management have become crucial. Much research is being focused on holistic aspects of social and cognitive behavior, such as the strategies used to handle workload, the flow of information, the scheduling of tasks, the verbal and non-verbal interactions between crew members. Traditional laboratory performance measures no longer sufficiently meet the needs of researchers addressing these issues. However observational techniques are better equipped to capture the type of data needed and to build models of the requisite level of sophistication. Presented here is SHAPA, an interactive software tool for performing both verbal and non-verbal protocol analysis. It has been developed with the idea of affording the researchers the closest possible degree of engagement with protocol data. The researcher can configure SHAPA to encode protocols using any theoretical framework or encoding vocabulary that is desired. SHAPA allows protocol analysis to be performed at any level of analysis, and it supplies a wide variety of tools for data aggregation, manipulation. The output generated by SHAPA can be used alone or in combination with other performance variables to get a rich picture of the influences on sequences of verbal or nonverbal behavior.

James, Jeffrey M.↗