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At least 145 records · Page 8

A Cognitive Walkthrough of Multiple Drone Delivery Operations

Advances of early twenty-first century aviation and transportation technologies provide opportunities for enhanced aerial projects, and the overall integration of unmanned aircraft systems (UAS) into the National Airspace System (NAS) has applications across a wide range of operations. Through these, remote operators have learned to manage several UAS at the same time in a variety of operational environments. The present work details a component piece of an ongoing body of research into multi-UAS operations. Beginning in early 2020, NASA has collaborated with Uber Technologies to design and develop concepts of operations, roles and responsibilities, and ground control station (GCS) concepts to enable food delivery operations via multiple, small UAS (sUAS). A cognitive walkthrough was chosen as the method for data collection. This allowed information to be gathered from UAS subject matter experts (SMEs) that could further mature designs for future human-in-the-loop (HITL) simulations; in addition, it allowed information to be collected remotely during the stringent restrictions of the COVID-19 pandemic. Consequently, the described cognitive walkthrough activity utilized remote data collection protocols mediated through the usage of programs designed for presentation and telecommunications. Scenarios were designed, complete with airspace, contingencies, and remedial actions, to be presented to the SMEs. Information was collected using a combination of rating scales and open-ended questions. Results received from the SMEs revealed expected hazards, workloads, and information concerns inherent in the contingency scenarios. SMEs also provided insight into the design of GCS tools and displays as well as the duties and relationships of human operators (i.e., monitors) and automation (i.e., informers and flight managers). Implications of these findings are discussed.

unmanned aircraft systems↗

Immersive Technologies for Human-in-the-Loop Lunar Surface Simulations

NASA, the National Aeronautics and Space Administration, continually seeks innovative solutions to enhance its operations, particularly in the realms of testing, evaluation, and training for future missions. Immersive technologies, such as virtual, augmented, and mixed reality have proven to be powerful tools for realistic, interactive, and engaging environments. This paper explores how the Simulation and Graphics Branch at NASA’s Johnson Space Center (JSC) leverages immersive technology, modern commercial rendering engines, and physics-based systems simulations to develop human-in-the-loop systems for humanity’s return to the Moon through the Artemis program. When NASA returns to the Moon, astronauts will travel to the Moon’s South Pole where lighting conditions will cause a more complex operational environment. Human-in-the-loop testing plays a crucial role in NASA's mission planning, spacecraft and space systems development, and evaluation of operational scenarios. The development of immersive environments such as a lunar rover mockup at a video wall enables engineers and astronauts to simulate and experience mission scenarios, integrated spacecraft systems, and operational procedures in a relevant environment before deployment. By integrating realistic virtual environments, immersive technology allows for the visualization and interaction with virtual spacecraft models, mission landscapes, and complex operational tasks. This approach helps identify potential design flaws, operational challenges, and safety considerations. It also provides valuable insights for risk reduction and helps improve mission efficiency and effectiveness. With advanced motion tracking systems and custom virtual environments data can be gathered and evaluated to help NASA refine training protocols, develop specialized training procedures and optimize human-robotic interactions for future space missions. Furthermore, immersive technology offers opportunities for future training initiatives at NASA. The Virtual Reality Laboratory at JSC has pioneered training with Virtual Reality (VR) since the Hubble Space Telescope repair missions in the early 1990’s. Extended Reality (XR) simulations enable astronauts to rehearse complex spacewalks, spacecraft maneuvers, and extravehicular activities in a safe and controlled environment. By replicating the physical and cognitive challenges of space missions, immersive training experiences enhance astronauts' situational awareness, decision-making abilities, and adaptability to unexpected scenarios. Additionally, immersive technology facilitates collaborative training, allowing geographically dispersed crew and mission control personnel to engage in synchronized simulations, fostering teamwork and effective communication. The adoption of immersive technology in NASA's testing, evaluation, and future training programs has yielded significant benefits. By incorporating human-in-the-loop testing for studies involving Extra Vehicular Activities (EVA), surface mobility and landing systems, NASA can identify and mitigate risks, optimize operational procedures, and enhance mission success. Ultimately, immersive training experiences can empower astronauts to better navigate the complexities of space missions, ensuring their safety, productivity, and success in the dynamic and challenging environments they will experience at the Lunar South Pole.

Simulation Modeling Virtual Reality Immersive Tech↗

Immersive Technologies for Human-in-the-Loop Lunar Surface Simulations

NASA, the National Aeronautics and Space Administration, continually seeks innovative solutions to enhance its operations, particularly in the realms of testing, evaluation, and training for future missions. Immersive technologies, such as virtual, augmented, and mixed reality have proven to be powerful tools for immersing users in realistic, interactive, and engaging environments. This paper explores how the Simulation and Graphics Branch at NASA’s Johnson Space Center (JSC) leverages immersive technology, modern commercial rendering engines, and physics-based systems simulations to develop human-in-the-loop systems for humanity’s return to the Moon through the Artemis program. When NASA returns to the Moon, astronauts will travel to the Moon’s South Pole where lighting conditions will cause a more complex operational environment. Human-in-the-loop simulations play a crucial role in NASA’s mission planning, spacecraft and space systems development, and evaluation of operational scenarios. The development of immersive environments such as a lunar rover mockup at a video wall enables engineers and astronauts to simulate and experience mission scenarios, integrated spacecraft systems, and operational procedures in a relevant environment before deployment. By integrating realistic virtual environments, immersive technology allows for the visualization and interaction with virtual spacecraft models, mission landscapes, and complex operational tasks. This approach helps identify potential design flaws, operational challenges, and safety considerations. It also provides valuable insights for risk reduction and helps improve mission efficiency and effectiveness. With advanced motion tracking systems and custom virtual environments, data can be gathered and evaluated to help NASA refine training protocols, develop specialized training procedures, and optimize human-robotic interactions for future space missions. Furthermore, immersive technology offers opportunities for future training initiatives at NASA. The Virtual Reality Laboratory at JSC has pioneered training with Virtual Reality (VR) since the Hubble Space Telescope repair missions in the early 1990’s. Extended Reality (XR) simulations enable astronauts to rehearse complex spacewalks, spacecraft maneuvers, and extravehicular activities in a safe and controlled environment. By replicating the physical and cognitive challenges of space missions, immersive training experiences enhance astronauts’ situational awareness, decision-making abilities, and adaptability to unexpected scenarios. Additionally, immersive technology facilitates collaborative training, allowing geographically dispersed crew and mission control personnel to engage in synchronized simulations, fostering teamwork and effective communication. The adoption of immersive technology in NASA’s testing, evaluation, and future training programs has yielded significant benefits. By incorporating human-in-the-loop simulations for studies involving Extra Vehicular Activities (EVA), surface mobility and landing systems, NASA can identify and mitigate risks, optimize operational procedures, and enhance mission success. Ultimately, immersive simulation experiences can empower astronauts to better navigate the complexities of space missions, ensuring their safety, productivity, and success in the dynamic and challenging environments they will experience at the Lunar South Pole.

HITL↗

Methodology Development for Assessment of Spaceport Technology Returns and Risks

As part of Kennedy Space Center's (KSC's) challenge to open the space frontier, new spaceport technologies must be developed, matured and successfully transitioned to operational systems. R&D investment decisions can be considered from multiple perspectives. Near mid and far term technology horizons must be understood. Because a multitude of technology investment opportunities are available, we must identify choices that promise the greatest likelihood of significant lifecycle At the same time, the costs and risks of any choice must be well understood and balanced against its potential returns The problem is not one of simply rank- ordering projects in terms of their desirability. KSC wants to determine a portfolio of projects that simultaneously satisfies multiple goals, such as getting the biggest bang for the buck, supporting projects that may be too risky for private funding, staying within annual budget cycles without foregoing the requirements of a long term technology vision, and ensuring the development of a diversity of technologies that, support the variety of operational functions involved in space transportation. This work aims to assist in the development of in methods and techniques that support strategic technology investment decisions and ease the process of determining an optimal portfolio of spaceport R&D investments. Available literature on risks and returns to R&D is reviewed and most useful pieces are brought to the attention of the Spaceport Technology Development Office (STDO). KSC's current project management procedures are reviewed. It is found that the "one size fits all" nature of KSC's existing procedures and project selection criteria is not conducive to prudent decision-making. Directions for improving KSC's - procedures and criteria are outlined. With help of a contractor, STDO is currently developing a tool, named Change Management Analysis Tool (CMAT)/ Portfolio Analysis Tool (PAT), to assist KSC's R&D portfolio determination. A critical review of CMAT/PAT is undertaken. Directions for the improvement of this tool are provided. STDO and KSC intend to follow up on many, if not all, of the recommendations provided.

Joglekar, Prafulla↗

Challenges and Opportunities For Ensuring Entry System Technology Readiness For Ice Giants Probe Missions

The Ice Giants represent a distinct class of planets within our solar system, and appear to be similar to most exoplanets that have been detected thus far. Exploring Ice Giants in our Solar System would allow us to better understand their formation and evolution processes, and thus help establish scientific links to exoplanets. In situ exploration using probes similar to Galileo, along with an orbiter or a relay spacecraft, will require entry followed by deployment of the descent probe containing science instruments into Uranus or Neptune atmosphere. The challenge is not in the deployment of the probe, but in the atmospheric entry prior to deployment. The entry system has to have a capable, robust and efficient ablative thermal protection system (TPS) designed to protect the descent probe from the thermal and mechanical entry loads. Although entries into Ice Giants may not be as demanding as the Galileo entry at Jupiter, the entry environments will be more severe than environments for Mars, Sample Return missions, and Venus, and will therefore require robust TPS. While Galileo Probe’s success, nearly 25 years ago, should give us confidence, the recession data from the Galileo entry informs us that the entry environment was under predicted and the design thickness was barely adequate. The lesson learned from Galileo probe for future Ice Giant missions will require us to be cautious and demand a more robust design. The TPS technology used on Galileo entry system no longer exists due to atrophy of manufacturing processes. Instead of attempting to revive Galileo-legacy TPS technology, NASA invested in a new and innovative TPS called HEEET (Heat-shield for Extreme Entry Environment Technology). HEEET has been matured, and is now ready to support future missions not only to the Ice Giants but also for Venus, high-speed sample return, and Saturn probe missions. This lead talk, intended for the technology section of the workshop, will cover entry, descent, and deployment (EDD), with an emphasis on entry. A brief history of the TPS challenges for extreme entry missions will be given along with a quick overview of the concept of operations for EDD. The development and maturation of HEEET system capability will be described. Data gathered in ground-test facilities in the US will be highlighted to show that the technology is mature and ready for Ice Giant missions. All thermal protection systems carry some risk as a result of ground test limitations and Ice Giant missions present some unique challenges. These challenges are not only technical, but also due to limitations in the currently established manufacturing and integration. In addition, the concerns that arise due to potential for atrophy for future Ice Giant mission a decade or more from now will be analyzed. Plausible avenues for mitigation will be presented. There are two companion planned presentations by Dr. Prabhu and Dr. Hwang will dive deeper in the challenges and opportunities. This intended talk will set the stage for their presentations.

Venkatapathy, Ethiraj↗

Challenges and Opportunities for Ensuring Entry System Technology Readiness for Ice Giants Probe Missions

The Ice Giants represent a distinct class of planets within our solar system, and appear to be similar to most exoplanets that have been detected thus far. Exploring Ice Giants in our Solar System would allow us to better understand their formation and evolution processes, and thus help establish scientific links to exoplanets. In situ exploration using probes similar to Galileo, along with an orbiter or a relay spacecraft, will require entry followed by deployment of the descent probe containing science instruments into Uranus or Neptune atmosphere. The challenge is not in the deployment of the probe, but in the atmospheric entry prior to deployment. The entry system has to have a capable, robust and efficient ablative thermal protection system (TPS) designed to protect the descent probe from the thermal and mechanical entry loads. Although entries into Ice Giants may not be as demanding as the Galileo entry at Jupiter, the entry environments will be more severe than environments for Mars, Sample Return missions, and Venus, and will therefore require robust TPS. While Galileo Probe’s success, nearly 25 years ago, should give us confidence, the recession data from the Galileo entry informs us that the entry environment was under-predicted and the design thickness was barely adequate. The lesson learned from the Galileo probe for future Ice Giant missions will require us to be cautious and demand a more robust design. The TPS technology used on the Galileo entry system no longer exists due to atrophy of manufacturing processes. Instead of attempting to revive Galileo-legacy TPS technology, NASA invested in a new and innovative TPS called HEEET (Heat-shield for Extreme Entry Environment Technology). HEEET has been matured, and is now ready to support future missions not only to the Ice Giants but also for Venus, high-speed sample return, and Saturn probe missions. This lead talk, intended for the technology section of the workshop, will cover entry, descent, and deployment (EDD), with an emphasis on entry. A brief history of the TPS challenges for extreme entry missions will be given, along with a quick overview of the concept of operations for EDD. The development and maturation of HEEET system capability will be described. Data gathered in ground-test facilities in the US will be highlighted to show that the technology is mature and ready for Ice Giant missions. All thermal protection systems carry some risk as a result of ground test limitations and Ice Giant missions present some unique challenges. These challenges are not only technical, but also due to limitations in the currently established manufacturing and integration. In addition, the concerns that arise due to the potential for atrophy for future Ice Giant missions a decade or more from now will be analyzed. Plausible avenues for mitigation will be presented. There are two planned companion presentations by Dr. Prabhu and Dr. Hwang that will dive deeper into the challenges and opportunities. This intended talk will set the stage for their presentations.

Venkatapathy, Ethiraj↗

NASA Funding Opportunities for Optical Fabrication and Testing Technology Development

Technologies to fabricate and test optical components are required for NASA to accomplish its highest priority science missions. For example, the NRC ASTRO2010 Decadal Survey states that an advanced large-aperture UVOIR telescope is required to enable the next generation of compelling astrophysics and exo-planet science; and that present technology is not mature enough to affordably build and launch any potential UVOIR mission concept. The NRC 2012 NASA Space Technology Roadmaps and Priorities report states that the highest priority technology in which NASA should invest to 'Expand our understanding of Earth and the universe' is a new generation of astronomical telescopes. And, each of the Astrophysics division Program Office Annual Technology Reports (PATR), identifies specific technology needs. NASA has a variety of programs to fund enabling technology development: SBIR (Small Business Innovative Research); the ROSES APRA and SAT programs (Research Opportunities in Space and Earth Science; Astrophysics Research and Analysis program; Strategic Astrophysics Technology program); and several Office of the Chief Technologist (OCT) technology development programs.

Stahl, H. Philip↗

NASA Funding Opportunities for Optical Fabrication and Testing Technology Development

NASA requires technologies to fabricate and test optical components to accomplish its highest priority science missions. The NRC ASTRO2010 Decadal Survey states that an advanced large-aperture UVOIR telescope is required to enable the next generation of compelling astrophysics and exo-planet science; and, that present technology is not mature enough to affordably build and launch any potential UVOIR mission concept. The NRC 2012 NASA Space Technology Roadmaps and Priorities Report states that the highest priority technology in which NASA should invest to 'Expand our understanding of Earth and the universe' is next generation X-ray and UVOIR telescopes. Each of the Astrophysics division Program Office Annual Technology Reports (PATR) identifies specific technology needs. NASA has a variety of programs to fund enabling technology development: SBIR (Small Business Innovative Research); the ROSES APRA and SAT programs (Research Opportunities in Space and Earth Science; Astrophysics Research and Analysis program; Strategic Astrophysics Technology program); and several Office of the Chief Technologist (OCT) programs

Stahl, H. Philip↗

Space and the Frontier Mythos: A Re-Examination

Some modern space philosophies emphasize the historical parallels between the conquest of the Martian frontier and the expansion into the American West. These parallels are used as a rationale for planning the exploration and large-scale settlement of Mars. However, many of these historical allegories are in error. Vast differences exist between the geographical realities of Mars and the western frontier. Furthermore, westward expansion took place within a set of political, economic, social, and technological circumstances that are unlikely to be repeated in Martian exploration. The physical conditions and geographical realities of the Martian frontier in exploration and settlement terms are closer to the Antarctic continent. The American West, which had been inhabited by humans for thousands of years, offered a relative degree of comfort to new arrivals. We do not find large numbers of people migrating to the Canadian High Arctic or other polar regions to live. The inhospitable nature of these polar regions are the major limitation to the human desire to live there. The conquest of the American West took place within the context of a complex set of circumstances. Americans believed they had a 'manifest destiny' to extend their civilization across the continent. Many people also went west in search of a better life: for gold, land or other opportunities. The technology also existed at that point to allow large numbers of people to head west on their own at minimal cost. The settlement of Mars will be far different. It is for these reasons that we believe Antarctica is a much better analog for the exploration of Mars. Therefore, Martian exploration and settlement plans should be adjusted accordingly.

Cockell, Charles S.↗

Relay Telecommunications for the Coming Decade of Mars Exploration

Over the past decade, an evolving network of relay-equipped orbiters has advanced our capabilities for Mars exploration. NASA's Mars Global Surveyor, 2001 Mars Odyssey, and Mars Reconnaissance Orbiter (MRO), as well as ESA's Mars Express Orbiter, have provided telecommunications relay services to the 2003 Mars Exploration Rovers, Spirit and Opportunity, and to the 2007 Phoenix Lander. Based on these successes, a roadmap for continued Mars relay services is in place for the coming decade. MRO and Odyssey will provide key relay support to the 2011 Mars Science Laboratory (MSL) mission, including capture of critical event telemetry during entry, descent, and landing, as well as support for command and telemetry during surface operations, utilizing new capabilities of the Electra relay payload on MRO and the Electra-Lite payload on MSL to allow significant increase in data return relative to earlier missions. Over the remainder of the decade a number of additional orbiter and lander missions are planned, representing new orbital relay service providers and new landed relay users. In this paper we will outline this Mars relay roadmap, quantifying relay performance over time, illustrating planned support scenarios, and identifying key challenges and technology infusion opportunities.

Edwards, C.↗

Remote Observations of Reentering Spacecraft Including the Space Shuttle Orbiter

Flight measurement is a critical phase in development, validation and certification processes of technologies destined for future civilian and military operational capabilities. This paper focuses on several recent NASA-sponsored remote observations that have provided unique engineering and scientific insights of reentry vehicle flight phenomenology and performance that could not necessarily be obtained with more traditional instrumentation methods such as onboard discrete surface sensors. The missions highlighted include multiple spatially-resolved infrared observations of the NASA Space Shuttle Orbiter during hypersonic reentry from 2009 to 2011, and emission spectroscopy of comparatively small-sized sample return capsules returning from exploration missions. Emphasis has been placed upon identifying the challenges associated with these remote sensing missions with focus on end-to-end aspects that include the initial science objective, selection of the appropriate imaging platform and instrumentation suite, target flight path analysis and acquisition strategy, pre-mission simulations to optimize sensor configuration, logistics and communications during the actual observation. Explored are collaborative opportunities and technology investments required to develop a next-generation quantitative imaging system (i.e., an intelligent sensor and platform) with greater capability, which could more affordably support cross cutting civilian and military flight test needs.

Horvath, Thomas J.↗

Integration Process for the Habitat Demonstration Unit

The Habitat Demonstration Unit (HDU) is an experimental exploration habitat technology and architecture test platform designed for analog demonstration activities The HDU project has required a team to integrate a variety of contributions from NASA centers and outside collaborators and poses a challenge in integrating these disparate efforts into a cohesive architecture To complete the development of the HDU from conception in June 2009 to rollout for operations in July 2010, a cohesive integration strategy has been developed to integrate the various systems of HDU and the payloads, such as the Geology Lab, that those systems will support The utilization of interface design standards and uniquely tailored reviews have allowed for an accelerated design process Scheduled activities include early fit-checks and the utilization of a Habitat avionics test bed prior to equipment installation into HDU A coordinated effort to utilize modeling and simulation systems has aided in design and integration concept development Modeling tools have been effective in hardware systems layout, cable routing and length estimation, and human factors analysis Decision processes on the shell development including the assembly sequence and the transportation have been fleshed out early on HDU to maximize the efficiency of both integration and field operations Incremental test operations leading up to an integrated systems test allows for an orderly systems test program The HDU will begin its journey as an emulation of a Pressurized Excursion Module (PEM) for 2010 field testing and then may evolve to a Pressurized Core Module (PCM) for 2011 and later field tests, depending on agency architecture decisions The HDU deployment will vary slightly from current lunar architecture plans to include developmental hardware and software items and additional systems called opportunities for technology demonstration One of the HDU challenges has been designing to be prepared for the integration of presently unanticipated systems Results of the HDU field tests will influence future designs of habitat systems.

Gill, Tracy↗

Enabling Universal Access to Power on the Lunar Surface

The National Aeronautics and Space Administration (NASA) Artemis Missions will return human astronauts to the lunar surface, demonstrate technologies that establish a sustained presence on the lunar surface and enable human missions to Mars, and help create a lunar commercial economy. Creating a sustained permanent presence on the lunar surface will require access to continuous and highly reliable power to support mission needs. During Artemis, lunar surface operations will evolve and grow over time (years), requiring an increase in the amount of power needed (100s of kW) and distance that the power must be transmitted (up to 10 km during early Artemis missions). A lunar commercial economy is likely to exceed this power demand to the MW level and distance in the 100s of km. This increased distance and demand for highly reliable power drives the need to create an electric power grid by connecting localized lunar power systems (e.g., habitats, in-situ resource utilization plants, etc.), each containing one or more loads and/or sources. Developing a lunar surface power grid will allow lunar surface operations to resemble electrical utility operations on Earth; it allows power to be generated where it is convenient and allows power to be consumed where it is convenient and required. A lunar surface electric power grid will facilitate the growth of a lunar commercial economy because it provides a means to connect new loads to an existing electrical power system. A common standardized interface to the grid and a set of standardized voltages is required to take full advantage of the benefits of an electric power grid, similar to the terrestrial power grid. NASA Glenn Research Center is leading an effort to create universal access to power through the development of the Universal Modular Interface Converter (UMIC). The UMIC is designed to have a common interface that connects sources and loads compliant with the International Space Power System Interoperability Standard (ISPSIS) to a higher voltage AC transmission system or power grid. This presentation will further discuss the evolution of power during the Artemis missions, challenges associated with creating a sustained presence on the lunar surface, progress made on the UMIC, and future opportunities for technology development and standards.

space power systems↗

Present status of LANDSAT remote sensing

The state-of-the-practice of satellite remote sensing is examined. Emphasis is placed on the use of remote sensing to improve information gathering practices. Impediments to adopting this technology and opportunities to overcome these impediments are addressed.

Cressy, P. J.↗

Telecommunications and navigation systems design for manned Mars exploration missions

This paper discusses typical manned Mars exploration needs for telecommunications, including preliminary navigation support functions. It is a brief progress report on an ongoing study program within the current NASA JPL Deep Space Network (DSN) activities. A typical Mars exploration case is defined, and support approaches comparing microwave and optical frequency performance for both local in situ and Mars-earth links are described. Optical telecommunication and navigation technology development opportunities in a Mars exploration program are also identified. A local Mars system telecommunication relay and navigation capability for service support of all Mars missions has been proposed as part of an overall solar system communications network. The effects of light-time delay and occultations on real-time mission decision-making are discussed; the availability of increased local mass data storage may be more important than increasing peak data rates to earth. The long-term frequency use plan will most likely include a mix of microwave, millimeter-wave and optical link capabilities to meet a variety of deep space mission needs.

Hall, Justin R.↗

Challenges in aeronautical research for the 1990's

Three areas of the specific NASA aeronautical research are discussed: (1) advanced subsonic transport airplanes; (2) next generation high speed civil transport aircraft (SST's); and (3) next century hypersonic vehicles. The research planning reflects an awareness of and sensitivity to modern, stringent environmental constraints, changing marketplace demands, and advanced technology driven opportunities. The technical foundations of those future systems are described.

Holmes, Bruce↗

Growth and characterization of binary and pseudo-binary 3-5 compounds exhibiting non-linear optical behavior. Undergraduate research opportunities in microgravity science and technology

In line with the specified objectives, a Bridgman-type growth configuration in which unavoidable end effects - conventionally leading to growth interface relocation - are compensated by commensurate input-power changes is developed; the growth rate on a microscale is predictable and unaffected by changes in heat transfer conditions. To permit quantitative characterization of the growth furnace cavity (hot-zone), a 3-D thermal field mapping technique, based on the thermal image, is being tested for temperatures up to 1100 C. Computational NIR absorption analysis was modified to now permit characterization of semi-insulating single crystals. Work on growth and characterization of bismuth-silicate was initiated. Growth of BSO (B12SiO20) for seed material by the Czochralski technique is currently in progress. Undergraduate research currently in progress includes: ground based measurements of the wetting behavior (contact angles) of semiconductor melts on substrates consisting of potential confinement materials for solidification experiments in a reduced gravity environment. Hardware modifications required for execution of the wetting experiments in a KC-135 facility are developed.

Witt, August F.↗