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Video That's Out of This World: A Snapshot of Video Distribution from Across the Solar System

While extraterrestrial scientific research advances to the Moon and Mars, so does the need for secure high-quality video links to capture data and share the experience. This paper describes the space to ground architecture needed to satisfy the cultural mantra challenging “Pictures or it didn’t happen!” as NASA travels beyond Low Earth Orbit. The Marshall Space Flight Center’s Delay Tolerant Network Marshall Enterprise (DTNME) protocol is the framework for video distribution beyond the terrestrial Internet, appropriate for communications across the solar system. Utilizing the International Space Station (ISS) as a test facility, NASA engineers and contractors will demonstrate new technologies and capabilities to transmit high-quality video imagery for NASA’s return to the Moon, Mars exploration, and next generation of explorers.

Photography↗

Video That's Out of This World: A Snapshot of Video Distribution from Across the Solar System

While extraterrestrial scientific research advances to the Moon and Mars, so does the need for secure high-quality video links to capture data and share the experience. This paper describes the space to ground architecture needed to satisfy the cultural mantra challenging “Pictures or it didn’t happen!” as NASA travels beyond Low Earth Orbit. The Marshall Space Flight Center’s Delay Tolerant Network Marshall Enterprise (DTNME) protocol is the framework for video distribution beyond the terrestrial Internet, appropriate for communications across the solar system. Utilizing the International Space Station (ISS) as a test facility, NASA engineers and contractors will demonstrate new technologies and capabilities to transmit high-quality video imagery for NASA’s return to the Moon, Mars exploration, and next generation of explorers.

Photography↗

More Data Needed for Failure Rate Estimation, Validation, and Uncertainty Reduction

The currently planned schedule for advanced Environmental Control and Life Support System (ECLSS) development and test activities to support human exploration missions is unlikely to generate sufficient data to enable statistically-supportable, precise Orbital Replacement Unit (ORU) failure rate estimates to meet existing crew safety expectations. Accurate and precise failure rate estimates are critical for missions beyond Low Earth Orbit (LEO) because current risk mitigation approaches –namely regular resupply and rapid abort capabilities –will not be available. Safe operations will depend on mission planners’ ability to accurately forecast spares demand and efficiently provide the necessary resources. However, even after more than a decade of International Space Station (ISS) ECLSS operations, a significant amount of uncertainty remains in failure rate estimates. Uncertain or inaccurate failure rates result in increased risk and spares mass. A Bayesian estimation approach, such as the one currently implemented by the ISS Program, can reduce uncertainty by incorporating engineering judgement into failure rate estimates. However, experience on the ISS and with other complex systems shows that these prior failure rate estimates are often inaccurate. In addition, prior estimates are typically point values; some level of uncertainty must be added to convert these into probability distributions for Bayesian updating, and there are several potential methods for doing so. Due to the low rate of data collection, any inaccuracy in theseprior estimates currently hasa strong influence on the end result. This paper examines the challenges associated with failure rate estimation, validation, and uncertainty reduction in the context of ECLSS development for beyond-LEO missions. A variety of techniques for generating and updating Bayesian priors are discussed and evaluated using both real-world and simulated data. Potential solutions for improving failure rate estimation, including testing additional units, are analyzed and discussed, and a set of recommendations are provided for next-generation system development activities.

Reliability↗

More Data Needed for Failure Rate Estimation, Validation, and Uncertainty Reduction

The currently planned schedule for advanced Environmental Control and Life Support System (ECLSS) development and test activities to support human exploration missions is unlikely to generate sufficient data to enable statistically-supportable, precise Orbital Replacement Unit (ORU) failure rate estimates to meet existing crew safety expectations. Accurate and precise failure rate estimates are critical for missions beyond Low Earth Orbit (LEO) because current risk mitigation approaches –namely regular resupply and rapid abort capabilities –will not be available. Safe operations will depend on mission planners’ ability to accurately forecast spares demand and efficiently provide the necessary resources. However, even after more than a decade of International Space Station (ISS) ECLSS operations, a significant amount of uncertainty remains in failure rate estimates. Uncertain or inaccurate failure rates result in increased risk and spares mass. A Bayesian estimation approach, such as the one currently implemented by the ISS Program, can reduce uncertainty by incorporating engineering judgement into failure rate estimates. However, experience on the ISS and with other complex systems shows that these prior failure rate estimates are often inaccurate. In addition, prior estimates are typically point values; some level of uncertainty must be added to convert these into probability distributions for Bayesian updating, and there are several potential methods for doing so. Due to the low rate of data collection, any inaccuracy in theseprior estimates currently hasa strong influence on the end result. This paper examines the challenges associated with failure rate estimation, validation, and uncertainty reduction in the context of ECLSS development for beyond-LEO missions. A variety of techniques for generating and updating Bayesian priors are discussed and evaluated using both real-world and simulated data. Potential solutions for improving failure rate estimation, including testing additional units, are analyzed and discussed, and a set of recommendations are provided for next-generation system development activities.

Reliability↗

Advanced Exploration Systems Water Architecture Study Interim Results

The mission of the Advanced Exploration System (AES) Water Recovery Project (WRP) is to develop advanced water recovery systems that enable NASA human exploration missions beyond low Earth orbit (LEO). The primary objective of the AES WRP is to develop water recovery technologies critical to near-term missions beyond LEO. The secondary objective is to continue to advance mid-readiness-level technologies to support future NASA missions. An effort is being undertaken to establish the architecture for the AES Water Recovery System (WRS) that meets both near- and long-term objectives. The resultant architecture will be used to guide future technical planning, establish a baseline development roadmap for technology infusion, and establish baseline assumptions for integrated ground and on-orbit Environmental Control and Life Support Systems definition. This study is being performed in three phases. Phase I established the scope of the study through definition of the mission requirements and constraints, as well as identifying all possible WRS configurations that meet the mission requirements. Phase II focused on the near-term space exploration objectives by establishing an International Space Station-derived reference schematic for long-duration (>180 day) in-space habitation. Phase III will focus on the long-term space exploration objectives, trading the viable WRS configurations identified in Phase I to identify the ideal exploration WRS. The results of Phases I and II are discussed in this paper.

Sargusingh, Miriam J.↗

Justification of Crew Function and Function Capability for Long Duration Deep Space Habitation

There are currently no established standards or guidelines that define the functions to be present in habitats for use beyond Low Earth Orbit (LEO), or for the capabilities of those functions. There is limited human experience with long duration space habitation, none of which is beyond LEO. There is significantly less experience with even short duration human habitation beyond LEO. Studies since the Apollo program that have proposed long duration habitats have applied inconsistent functionality, yet these functions have substantial implications for spacecraft mass and volume. There are also numerous aspects of human space flight beyond LEO that have implications for these functions. This paper develops a method for design teams to identify and justify the functions and capabilities to include in long duration habitats intended for use beyond LEO. Finally, human-in-the-loop testing methods are recommended for use in the early spacecraft design stages to ensure that the habitat will successfully provide the intended functions and capabilities.

Howard, Robert L.↗

Feasibility and Utility of a Cryogenic Integrated RCS

Traditional in-space propulsion systems use storable propellants, such as MMH/NTO, for applications beyond Low Earth Orbit (LEO). Modern advancements in Cryogenic Fluid Management (CFM) technologies opens the door for use of more efficient cryogenic propellants, such as LOX/LCH4 or LOX/LH2, in these long-duration missions beyond LEO. As these Main Propulsion Systems (MPS) transition to cryogenic propellants, a cryogenic solution for Reaction Control Systems (RCS) becomes attractive for several reasons. A mixed-fluid vehicle solution with cryogenic (cool) MPS and storable (warm) RCS complicates thermal management. Additionally, a vehicle with common cryogenic propellant across the MPS and RCS could take advantage of shared hardware such as tanks, thermal management equipment, and pressurization system, reducing mass and development time. The fluid system design proposed in this presentation features shared hardware, leading to the designation of Cryogenic Integrated Reaction Control System (iRCS). The iRCS design stores cryogenic propellant in the low-pressure (10’s psia) MPS tanks, creates steady high-pressure (100’s psia) flow through an electric pump (e-pump), feeds pulse-firing RCS thrusters, and returns any excess flow to the tank through a pressure control device on a recirculation line. This iRCS design is inspired by the automotive fuel-rail, where similar elevated-pressure and pulse-firing requirements are levied. This design has several inherent advantages. Because this design is pump-fed rather than pressure-fed, heavy, high-pressure propellant storage is not required. The RCS propellant can therefore be stored by increasing MPS tank volume. Furthermore, by increasing the pressure of the circulated fluid through an e-pump, the propellant quality moves further into the sub-cooled regime. Sub-cooled liquid is desirable for accurate pressure and flow control at the thruster inlet. Lastly, the iRCS allows the distribution system hardware to maintain cryogenic temperatures by slowly recirculating liquid in a low-energy “Idle Mode”. Altogether, the iRCS concept enables a more efficient cryogenic vehicle design.

Integrated Reaction Control System↗

Feasibility and Utility of a Cryogenic Integrated RCS

Traditional in-space propulsion systems use storable propellants, such as MMH/NTO, for applications beyond Low Earth Orbit (LEO). Modern advancements in Cryogenic Fluid Management (CFM) technologies opens the door for use of more efficient cryogenic propellants, such as LOX/LCH4 or LOX/LH2, in these long-duration missions beyond LEO. As these Main Propulsion Systems (MPS) transition to cryogenic propellants, a cryogenic solution for Reaction Control Systems (RCS) becomes attractive for several reasons. A mixed-fluid vehicle solution with cryogenic (cool) MPS and storable (warm) RCS complicates thermal management. Additionally, a vehicle with common cryogenic propellant across the MPS and RCS could take advantage of shared hardware such as tanks, thermal management equipment, and pressurization system, reducing mass and development time. The fluid system design proposed in this presentation features shared hardware, leading to the designation of Cryogenic Integrated Reaction Control System (iRCS). The iRCS design stores cryogenic propellant in the low-pressure (10’s psia) MPS tanks, creates steady high-pressure (100’s psia) flow through an electric pump (e-pump), feeds pulse-firing RCS thrusters, and returns any excess flow to the tank through a pressure control device on a recirculation line. This iRCS design is inspired by the automotive fuel-rail, where similar elevated-pressure and pulse-firing requirements are levied. This design has several inherent advantages. Because this design is pump-fed rather than pressure-fed, heavy, high-pressure propellant storage is not required. The RCS propellant can therefore be stored by increasing MPS tank volume. Furthermore, by increasing the pressure of the circulated fluid through an e-pump, the propellant quality moves further into the sub-cooled regime. Sub-cooled liquid is desirable for accurate pressure and flow control at the thruster inlet. Lastly, the iRCS allows the distribution system hardware to maintain cryogenic temperatures by slowly recirculating liquid in a low-energy “Idle Mode”. Altogether, the iRCS concept enables a more efficient cryogenic vehicle design.

Integrated↗

Cryogenic Propellant Storage and Transfer (CPST) Technology Maturation: Establishing a Foundation for a Technology Demonstration Mission (TDM)

As part of U.S. National Space Policy, NASA is seeking an innovative path for human space exploration, which strengthens the capability to extend human and robotic presence throughout the solar system. NASA is laying the groundwork to enable humans to safely reach multiple potential destinations, including asteroids, Lagrange points, the Moon and Mars. In support of this, NASA is embarking on the Technology Demonstration Mission Cryogenic Propellant Storage and Transfer (TDM CPST) Project to test and validate key cryogenic capabilities and technologies required for future exploration elements, opening up the architecture for large cryogenic propulsion stages (CPS) and propellant depots. The TDM CPST project will provide an on-orbit demonstration of the capability to store, transfer, and measure cryogenic propellants for a duration which is relevant to enable long term human space exploration missions beyond low Earth orbit (LEO). Recognizing that key cryogenic fluid management technologies anticipated for on-orbit (flight) demonstration needed to be matured to a readiness level appropriate for infusion into the design of the flight demonstration, the NASA Headquarters Space Technology Mission Directorate authorized funding for a one-year (FY12) ground based technology maturation program. The strategy, proposed by the CPST Project Manager, focused on maturation through modeling, studies, and ground tests of the storage and fluid transfer Cryogenic Fluid Management (CFM) technology sub-elements and components that were not already at a Technology Readiness Level (TRL) of 5. A technology maturation plan (TMP) was subsequently approved which described: the CFM technologies selected for maturation, the ground testing approach to be used, quantified success criteria of the technologies, hardware and data deliverables, and a deliverable to provide an assessment of the technology readiness after completion of the test, study or modeling activity. This paper will present the testing, studies, and modeling that occurred in FY12 to mature cryogenic fluid management technologies for propellant storage, transfer, and supply, to examine extensibility to full scale, long duration missions, and to develop and validate analytical models. Finally, the paper will briefly describe an upcoming test to demonstrate Liquid Oxygen (LO2) Zero Boil- Off (ZBO).

Doherty, Michael P.↗

Cryogenic Propellant Storage and Transfer (CPST) Technology Maturation: Establishing a Foundation for a Technology Demonstration Mission (TDM)

As part of U.S. National Space Policy, NASA is seeking an innovative path for human space exploration, which strengthens the capability to extend human and robotic presence throughout the solar system. NASA is laying the groundwork to enable humans to safely reach multiple potential destinations, including asteroids, Lagrange points, the Moon and Mars. In support of this, NASA is embarking on the Technology Demonstration Mission Cryogenic Propellant Storage and Transfer (TDM CPST) Project to test and validate key cryogenic capabilities and technologies required for future exploration elements, opening up the architecture for large cryogenic propulsion stages (CPS) and propellant depots. The TDM CPST project will provide an on-orbit demonstration of the capability to store, transfer, and measure cryogenic propellants for a duration which is relevant to enable long term human space exploration missions beyond low Earth orbit (LEO). Recognizing that key cryogenic fluid management technologies anticipated for on-orbit (flight) demonstration needed to be matured to a readiness level appropriate for infusion into the design of the flight demonstration, the NASA Headquarters Space Technology Mission Directorate authorized funding for a one-year (FY12) ground based technology maturation program. The strategy, proposed by the CPST Project Manager, focused on maturation through modeling, studies, and ground tests of the storage and fluid transfer Cryogenic Fluid Management (CFM) technology sub-elements and components that were not already at a Technology Readiness Level (TRL) of 5. A technology maturation plan (TMP) was subsequently approved which described: the CFM technologies selected for maturation, the ground testing approach to be used, quantified success criteria of the technologies, hardware and data deliverables, and a deliverable to provide an assessment of the technology readiness after completion of the test, study or modeling activity. This paper will present the testing, studies, and modeling that occurred in FY12 to mature cryogenic fluid management technologies for propellant storage, transfer, and supply, to examine extensibility to full scale, long duration missions, and to develop and validate analytical models. Finally, the paper will briefly describe an upcoming test to demonstrate Liquid Oxygen (LO2) Zero Boil-Off (ZBO).

Doherty, Michael P.↗

Full Mission Astronaut Radiation Exposure Assessments for Long Duration Lunar Surface Missions

Risk to astronauts due to ionizing radiation exposure is a primary concern for missions beyond Low Earth Orbit (LEO) and will drive mission architecture requirements, mission timelines, and operational practices. Both galactic cosmic ray (GCR) and solar particle event (SPE) environments pose a risk to astronauts for missions beyond LEO. The GCR environment, which is made up of protons and heavier ions covering a broad energy spectrum, is ever present but varies in intensity with the solar cycle, while SPEs are sporadic events, consisting primarily of protons moving outward through the solar system from the sun. The GCR environment is more penetrating and is more difficult to shield than SPE environments, but lacks the intensity to induce acute effects. Large SPEs are rare, but they could result in a lethal dose, if adequate shielding is not provided. For short missions, radiation risk is dominated by the possibility of a large SPE. Longer missions also require planning for large SPEs; adequate shielding must be provided and operational constraints must allow astronauts to move quickly to shielded locations. The dominant risk for longer missions, however, is GCR exposure, which accumulates over time and can lead to late effects such as cancer. SPE exposure, even low level SPE exposure received in heavily shielded locations, will increase this risk. In addition to GCR and SPE environments, the lunar neutron albedo resulting mainly from the interaction of GCRs with regolith will also contribute to astronaut risk. Full mission exposure assessments were performed for proposed long duration lunar surface mission scenarios. In order to accomplish these assessments, radiation shielding models were developed for a proposed lunar habitat and rover. End-to-End mission exposure assessments were performed by first calculating exposure rates for locations in the habitat, rover, and during extra-vehicular activities (EVA). Subsequently, total mission exposures were evaluated for proposed timelines. A number of computational tools and mathematical models, which have been incorporated into NASA's On-Line Tool for the Assessment of Radiation In Space (OLTARIS), were used for this study. These tools include GCR and SPE environment models, human body models, and the HZETRN space radiation transport code, which is used to calculate the transport of the charged particles and neutrons through shielding materials and human tissue. Mission exposure results, assessed in terms of effective dose, are presented for proposed timelines and recommendations are made for improved astronaut shielding and safer operational practice.

Adamczyk, Anne M.↗

Sabatier Reactor System Integration with Microwave Plasma Methane Pyrolysis Post-Processor for Closed-Loop Hydrogen Recovery

The Carbon Dioxide Reduction Assembly (CRA) designed and developed for the International Space Station (ISS) represents the state-of-the-art in carbon dioxide reduction (CDRe) technology. The CRA produces water and methane by reducing carbon dioxide with hydrogen via the Sabatier reaction. The water is recycled to the Oxygen Generation Assembly (OGA) and the methane is vented overboard resulting in a net loss of hydrogen. The proximity to earth and the relative ease of logistics resupply from earth allow for a semi-closed system on ISS. However, long-term manned space flight beyond low earth orbit (LEO) dictates a more thoroughly closed-loop system involving significantly higher recovery of hydrogen, and subsequent recovery of oxygen, to minimize costs associated with logistics resupply beyond LEO. The open-loop ISS system for CDRe can be made closed-loop for follow-on missions by further processing methane to recover hydrogen. For this purpose, a process technology has been developed that employs a microwave-generated plasma to reduce methane to hydrogen and acetylene resulting in 75% theoretical recovery of hydrogen. In 2009, a 1-man equivalent Plasma Pyrolysis Assembly (PPA) was delivered to the National Aeronautics and Space Administration (NASA) for technical evaluation. The PPA has been integrated with a Sabatier Development Unit (SDU). The integrated process configuration incorporates a sorbent bed to eliminate residual carbon dioxide and water vapor in the Sabatier methane product stream before it enters the PPA. This paper provides detailed information on the stand-alone and integrated performance of both the PPA and SDU. Additionally, the integrated test stand design and anticipated future work are discussed.

Abney, Morgan B.↗

Global Trends in Space Access and Utilization

In the not-so-distant past, space access and air/space technology superiority were within the purview of the U.S. and former Soviet Union's respective space agencies, both vying for global leadership in space exploitation. In more recent years, with the emergence of the European Space Agency (ESA) member countries and Asian countries joining the family of space-faring nations, it is truer now more than ever that space access and utilization has become a truly global enterprise. In fact, according to the Space Report 2007, this enterprise is a $251-billion economy. It is possible to gauge the vitality of worldwide efforts from open sources in today's transparent, media-based society. In particular, print and web broadcasters regularly report and catalog global space activities for defense and civil purposes. For the purposes of this paper, a representative catalog of missions is used to illustrate the nature of the emerging "globalization." This paper highlights global trends in terms of not only the providers of space access, but also the end-users for the various recently accomplished missions. With well over 50 launches per year, in recent years, the launch-log reveals a surprising percentage of "cooperative or co-dependent missions" where different agencies, countries, and/or commercial entities are so engaged presumably to the benefit of all who participate. Statistics are cited and used to show that recently over d0% of the 50-plus missions involved multiple nations working collectively to deliver payloads to orbit. Observers, space policy professionals, and space agency leaders have eloquently proposed that it might require the combined resources and talents of multiple nations to advance human exploration goals beyond low earth orbit. This paper does not intend to offer new information with respect to whether international collaboration is necessary but to observe that, in continuing to monitor global trends, the results seem to support the thesis that a global interdependent effort with all its likely complexities is an increasingly viable and pragmatic option. The discussion includes a breakdown of space missions into those of civil (scientific), military, and strictly commercial nature. It concludes that all three are robust components of a globally diversified portfolio of activities relying, essentially, on a common space industrial base and space infrastructure. As in other industries, the distribution of space industry assets and knowledge across countries and continents enables a diverse suite of options and arrangements, particularly in the areas of civil and commercial space utilization. A survey of several ongoing bilateral and multilateral space collaboration examples are provided to augment the observations regarding multinational work in space.

Rahman, Shamim A.↗

Crew Exercise Fact Sheet

Johnson Space Center (JSC) provides research, engineering, development, integration, and testing of hardware and software technologies for exercise systems applications in support of human spaceflight. This includes sustaining the current suite of on-orbit exercise devices by reducing maintenance, addressing obsolescence, and increasing reliability through creative engineering solutions. Advanced exercise systems technology development efforts focus on the sustainment of crew's physical condition beyond Low Earth Orbit for extended mission durations with significantly reduced mass, volume, and power consumption when compared to the ISS.

Rafalik, Kerrie↗

Crew Exercise

Johnson Space Center (JSC) provides research, engineering, development, integration, and testing of hardware and software technologies for exercise systems applications in support of human spaceflight. This includes sustaining the current suite of on-orbit exercise devices by reducing maintenance, addressing obsolescence, and increasing reliability through creative engineering solutions. Advanced exercise systems technology development efforts focus on the sustainment of crew's physical condition beyond Low Earth Orbit for extended mission durations with significantly reduced mass, volume, and power consumption when compared to the ISS.

Rafalik, Kerrie K.↗

NASA Advanced Explorations Systems: 2017 Advancements in Life Support Systems

The NASA Advanced Exploration Systems (AES) Life Support Systems (LSS) project strives to develop reliable, energy-efficient, and low-mass spacecraft systems to provide environmental control and life support systems (ECLSS) critical to enabling long duration human missions beyond low Earth orbit (LEO). Highly reliable, closed-loop life support systems are among the capabilities required for the longer duration human space exploration missions planned in the mid-2020s and beyond. The LSS Project is focused on four are-as-architecture and systems engineering for life support systems, environmental monitoring, air revitalization, and wastewater processing and water management. Starting with the International Space Station (ISS) LSS systems as a point of departure where applicable, the three-fold mission of the LSS Project is to address discrete LSS technology gaps, to improve the reliability of LSS systems, and to advance LSS systems toward integrated testing aboard the ISS. This paper is a follow on to the AES LSS development status reported in 2016 and provides additional details on the progress made since that paper was published with specific attention to the status of the Aerosol Sampler ISS Flight Experiment, the Spacecraft Atmosphere Monitor (SAM) Flight Experiment, the Brine Processor Assembly (BPA) Flight Experiment, the CO2 removal technology development tasks, and the work investigating the impacts of dormancy on LSS systems.

Schneider, Walter F.↗

NASA Advanced Explorations Systems: 2018 Advancements in Life Support Systems

The NASA Advanced Exploration Systems (AES) Life Support Systems (LSS) project strives to develop reliable, energy-efficient, and low-mass spacecraft systems to provide envi-ronmental control and life support systems (ECLSS) critical to enabling long duration human missions beyond low Earth orbit (LEO). Highly reliable, closed-loop life support systems are among the capabilities required for the longer duration human space exploration missions planned in the mid-2020s and beyond. The LSS Project is focused on three life support areas: air revitalization, wastewater processing/water management and environmental monitoring. Building upon the International Space Station (ISS) LSS systems (where applicable), the three-fold mission of the LSS Project is to address discrete LSS technology gaps, to improve the reliability of LSS systems, and to advance LSS systems toward integrated testing aboard the ISS. This paper is a follow on to the AES LSS development status reported in 2017 and provides additional details on the progress made since that publication with specific attention to the status of the Aerosol Sampler ISS Flight Experiment, the Spacecraft Atmosphere Monitor (SAM) Flight Experiment, the Brine Processor Assembly (BPA) Flight Experiment as well as the progress of the terrestrial development in air, water and environmental monitoring technologies.

trace contaminant control↗

Parametric Mass Reliability Study

The International Space Station (ISS) systems are designed based upon having redundant systems with replaceable orbital replacement units (ORUs). These ORUs are designed to be swapped out fairly quickly, but some are very large, and some are made up of many components. When an ORU fails, it is replaced on orbit with a spare; the failed unit is sometimes returned to Earth to be serviced and re-launched. Such a system is not feasible for a 500+ day long-duration mission beyond low Earth orbit. The components that make up these ORUs have mixed reliabilities. Components that make up the most mass-such as computer housings, pump casings, and the silicon board of PCBs-typically are the most reliable. Meanwhile components that tend to fail the earliest-such as seals or gaskets-typically have a small mass. To better understand the problem, my project is to create a parametric model that relates both the mass of ORUs to reliability, as well as the mass of ORU subcomponents to reliability.

Holt, James P.↗