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NASA NTRS2001

Simple, Scalable, Script-Based Science Processor (S4P)

The development and deployment of data processing systems to process Earth Observing System (EOS) data has proven to be costly and prone to technical and schedule risk. Integration of science algorithms into a robust operational system has been difficult. The core processing system, based on commercial tools, has demonstrated limitations at the rates needed to produce the several terabytes per day for EOS, primarily due to job management overhead. This has motivated an evolution in the EOS Data Information System toward a more distributed one incorporating Science Investigator-led Processing Systems (SIPS). As part of this evolution, the Goddard Earth Sciences Distributed Active Archive Center (GES DAAC) has developed a simplified processing system to accommodate the increased load expected with the advent of reprocessing and launch of a second satellite. This system, the Simple, Scalable, Script-based Science Processor (S42) may also serve as a resource for future SIPS. The current EOSDIS Core System was designed to be general, resulting in a large, complex mix of commercial and custom software. In contrast, many simpler systems, such as the EROS Data Center AVHRR IKM system, rely on a simple directory structure to drive processing, with directories representing different stages of production. The system passes input data to a directory, and the output data is placed in a "downstream" directory. The GES DAAC's Simple Scalable Script-based Science Processing System is based on the latter concept, but with modifications to allow varied science algorithms and improve portability. It uses a factory assembly-line paradigm: when work orders arrive at a station, an executable is run, and output work orders are sent to downstream stations. The stations are implemented as UNIX directories, while work orders are simple ASCII files. The core S4P infrastructure consists of a Perl program called stationmaster, which detects newly arrived work orders and forks a job to run the appropriate executable (registered in a configuration file for that station). Although S4P is written in Perl, the executables associated with a station can be any program that can be run from the command line, i.e., non-interactively. An S4P instance is typically monitored using a simple Graphical User Interface. However, the reliance of S4P on UNIX files and directories also allows visibility into the state of stations and jobs using standard operating system commands, permitting remote monitor/control over low-bandwidth connections. S4P is being used as the foundation for several small- to medium-size systems for data mining, on-demand subsetting, processing of direct broadcast Moderate Resolution Imaging Spectroradiometer (MODIS) data, and Quick-Response MODIS processing. It has also been used to implement a large-scale system to process MODIS Level 1 and Level 2 Standard Products, which will ultimately process close to 2 TB/day.

Lynnes, Christopher↗

NASA NTRS2019

Integrated Refrigeration and Storage of LNG for Compositional Stability

Growing interest in liquefied natural gas (LNG) as a rocket fuel necessitates a greater technical understanding of the compositional changes due to preferential boil-off (or weathering) that occurs during long duration storage. The purity of methane in LNG can range from 90 to 98%, and is subject to preferential boil-off due to its low boiling point compared to other constituents despite the use of high-performance thermal insulation systems. Active heat extraction (i.e. refrigeration) is required to completely eliminate weathering. For future operational safety and reliability, and to better understand the quality and efficiency of the LNG as a cryofuel, a 400-liter Cryostat vessel was designed and constructed to measure the composition and temperatures of the LNG at a number of different liquid levels over long durations. The vessel is the centerpiece of a custom-designed lab-scale integrated refrigeration and storage (IRaS) system employing a pulse tube cryocooler capable of roughly 50 W of lift at 100 K. Instrumentation includes ten temperature sensors mounted on a vertical rake and five liquid sample tubes corresponding to five liquid levels. Two modes of operation are studied. The first is without refrigeration in order to determine a baseline in the change in composition, and to study stratification of the LNG. The second is performed with the cryocooler active to determine the operational parameters of the IRaS system for eliminating the weathering as well as stratification effects in the bulk liquid. The apparatus design and test method, as well as preliminary test results are presented in this paper. As a bonus in cost-saving and operational efficiency, the capability of the IRaS system to provide zero-loss capabilities such as zero boil-off (ZBO) keeping of the LNG and zero-loss filling/transfer operations are also discussed.

Rose, Laura P.↗

NASA NTRS2019

Integrated Refrigeration and Storage of LNG for Compositional Stability

Rose, L.↗

NASA NTRS2004

Spatial Information Technology Center at Fulton-Montgomery Community College

The Spatial Information Technology Center (SITC) at Fulton-Montgomery Community College (FMCC) continued to fulfill its mission and charter by successfully completing its third year of operations under Congressional funding and NASA sponsorship. Third year operations (01 Oct 02 - 30 Sep 03) have been funded and conducted utilizing two authorized Research Grants NAG 13-00043 (via a one-year no-cost extension expiring Sep 03) and NAG 13-02053 (one-year no-cost extension expiring Sep 04). Drawdowns and reporting of fiscal activities for SlTC operations continues to pass through the Institute for the Application of Geo-spatial Technology (IAGT) at Cayuga Community College in Auburn, New York. Fiscal activity of the Center is reported quarterly via SF 272 to IAGT, thus this report contains only a budgetary overview and forecast of future expenditures for the remaining funds of NAG 13 - 02053. Funds from NAG 13 - 00043 were exhausted during the fourth quarter of fiscal year FY02 - 03, which necessitated initial draw down of NAG 13 - 02053. The IAGT receives no compensation for administrative costs as authorized and approved by NASA in each award budget. This report also includes the necessary addendums for each NAG award, as required by federal guidelines, though no reportable activities took place within this report period. Attached are the signed Report of New Technology/lnventions and a Final Property Report identifying qualifying equipment purchased by the Center. As an academic, economic and workforce development oriented program, the Center has made significant strides in bringing the technology, knowledge and applications of the spatial information technology field to the region it serves. Through the mission of the Center, the region's educational, economic development and work force communities have become increasingly educated to the benefits of spatial (Geospatial) technology, particularly in the region's K-12 arena. SlTC continues to positively affect the region's education, employment and economic development, while expanding its services and operations designed to be customer driven, growing infrastructure and affecting systemic change.

Flinton, Michael E.↗

NASA NTRS2004

Gearing Up for the Big Game...and More

Bill Elkins, a member of the U.S. Space Foundation's Space Technology Hall of Fame, is using his experience in developing cooling garments for use in sports and medicine. His company, CoolSystems, has developed the Game Ready[TM] Accelerated Recovery System. Game Ready[TM] ergonomic wraps are designed to custom fit the ankle, knee, back, torso, shoulder, elbow, and wrist and provide deep tissue cooling therapy with intermittent compression to reduce pain, swelling, and tissue damage. Recharge[TM] cooling garments have been developed to lower core body temperature in people with heat-sensitive multiple sclerosis, reducing symptoms such as fatigue, decreased balance, impaired vision, and decreased endurance. The company currently is collaborating with Stanford University Medical Center's Stanford Stroke Center to investigate the effectiveness of discrete hypothermia in stroke and head trauma patients.

Source record↗

NASA NTRS2010

Metrics for Offline Evaluation of Prognostic Performance

Prognostic performance evaluation has gained significant attention in the past few years. Currently, prognostics concepts lack standard definitions and suffer from ambiguous and inconsistent interpretations. This lack of standards is in part due to the varied end-user requirements for different applications, time scales, available information, domain dynamics, etc. to name a few. The research community has used a variety of metrics largely based on convenience and their respective requirements. Very little attention has been focused on establishing a standardized approach to compare different efforts. This paper presents several new evaluation metrics tailored for prognostics that were recently introduced and were shown to effectively evaluate various algorithms as compared to other conventional metrics. Specifically, this paper presents a detailed discussion on how these metrics should be interpreted and used. These metrics have the capability of incorporating probabilistic uncertainty estimates from prognostic algorithms. In addition to quantitative assessment they also offer a comprehensive visual perspective that can be used in designing the prognostic system. Several methods are suggested to customize these metrics for different applications. Guidelines are provided to help choose one method over another based on distribution characteristics. Various issues faced by prognostics and its performance evaluation are discussed followed by a formal notational framework to help standardize subsequent developments.

Saxena, Abhinav↗

NASA NTRSDate not supplied

Metabolic Vessel for Impedance Spectroscopy and Electrochemistry (MVISE): The Ground Mapping Unit for the Lunar Explorer Instrument for Space Biology Applications (LEIA)

The BioSensor payload on the upcoming LEIA platform aboard a CLPS lander will carry yeast to the moon to study response to radiation and lunar gravity. The LEIA BioSensor is designed to monitor metabolic activity using absorbance in conjunction with alamarBlue for measuring colorimetric changes as proxy measurement for redox potential. The science data returned from small spacecraft mission modules like LEIA is limited as it relies solely on optical measurements, necessitating a corresponding ground mapping unit that is equipped with multiple electrochemical sensors for accurate mapping of the optical data and operates fully automatically. This technology development work discusses the extensive design and optimization efforts put into the ground mapping unit, MVISE. MVISE is a custom designed, 3D-printed vessel with an agitation system, with six different electrochemical sensor probes, and ports for sample collection and a pressure release valve. The sensors provide real-time data, with dry absorbance measurements aligning with LEIA flight hardware and wet measurements demonstrating invasive sensor design enabling a comparison between the two setups. The 3D printer resin was tested for mechanical robustness, biocompatibility, and resistance to autoclave sterilization. The inner walls were coated with food-grade epoxy, ensuring a smooth finish to prevent microbial lodging and dye staining. The MVISE has successfully passed a week-long leak test and is now undergoing active biology tests. The MVISE prototype will be prepared for radiation tests, with three identical units being tested for varying radiation levels and culture compositions at the NASA Space Radiation Laboratory in November 2024. The integrated sensor approach proposed in this work will enable the accurate mapping of the BioSentinel/LEIA optical flight data to six sensor parameters on the ground unit for better science data return and will enable the first effort to evaluate classical biochemical sensor measurements by comparing and contrasting their responses.

Chinmayee Govinda Raj↗

NASA NTRS1978

NASA lithium cell applications

The advantages of lithium systems are described and a general summary of their application in present and future NASA programs is presented. Benefits of the lithium systems include an increased payload weight and an increased cost effectiveness to the customer. This also allows for more flexibility in the design of future space transportation systems.

Juvinall, G. L.↗

NASA NTRS2002

ISO 9000 and/or Systems Engineering Capability Maturity Model?

For businesses and organizations to remain competitive today they must have processes and systems in place that will allow them to first identify customer needs and then develop products/processes that will meet or exceed the customers needs and expectations. Customer needs, once identified, are normally stated as requirements. Designers can then develop products/processes that will meet these requirements. Several functions, such as quality management and systems engineering management are used to assist product development teams in the development process. Both functions exist in all organizations and both have a similar objective, which is to ensure that developed processes will meet customer requirements. Are efforts in these organizations being duplicated? Are both functions needed by organizations? What are the similarities and differences between the functions listed above? ISO 9000 is an international standard of goods and services. It sets broad requirements for the assurance of quality and for management's involvement. It requires organizations to document the processes and to follow these documented processes. ISO 9000 gives customers assurance that the suppliers have control of the process for product development. Systems engineering can broadly be defined as a discipline that seeks to ensure that all requirements for a system are satisfied throughout the life of the system by preserving their interrelationship. The key activities of systems engineering include requirements analysis, functional analysis/allocation, design synthesis and verification, and system analysis and control. The systems engineering process, when followed properly, will lead to higher quality products, lower cost products, and shorter development cycles. The System Engineering Capability Maturity Model (SE-CMM) will allow companies to measure their system engineering capability and continuously improve those capabilities. ISO 9000 and SE-CMM seem to have a similar objective, which is to document the organization's processes and certify to potential customers the capability of a supplier to control the processes that determine the quality of the product or services being produced. The remaining sections of this report examine the differences and similarities between ISO 9000 and SE-CMM and make recommendations for implementation.

Sampson E. Gholston↗

NASA NTRS1993

Optimization in the systems engineering process

The essential elements of the design process consist of the mission definition phase that provides the system requirements, the conceptual design, the preliminary design and finally the detailed design. Mission definition is performed largely by operations analysts in conjunction with the customer. The result of their study is handed off to the systems engineers for documentation as the systems requirements. The document that provides these requirements is the basis for the further design work of the design engineers at the Lockheed-Georgia Company. The design phase actually begins with conceptual design, which is generally conducted by a small group of engineers using multidisciplinary design programs. Because of the complexity of the design problem, the analyses are relatively simple and generally dependent on parametric analyses of the configuration. The result of this phase is a baseline configuration from which preliminary design may be initiated.

Lemmerman, Loren A.↗

NASA NTRS2006

NASA Exploration Launch Projects Overview: The Crew Launch Vehicle and the Cargo Launch Vehicle Systems

The U.S. Vision for Space Exploration (January 2004) serves as the foundation for the National Aeronautics and Space Administration's (NASA) strategic goals and objectives. As the NASA Administrator outlined during his confirmation hearing in April 2005, these include: 1) Flying the Space Shuttle as safely as possible until its retirement, not later than 2010. 2) Bringing a new Crew Exploration Vehicle (CEV) into service as soon as possible after Shuttle retirement. 3) Developing a balanced overall program of science, exploration, and aeronautics at NASA, consistent with the redirection of the human space flight program to focus on exploration. 4) Completing the International Space Station (ISS) in a manner consistent with international partner commitments and the needs of human exploration. 5) Encouraging the pursuit of appropriate partnerships with the emerging commercial space sector. 6) Establishing a lunar return program having the maximum possible utility for later missions to Mars and other destinations. In spring 2005, the Agency commissioned a team of aerospace subject matter experts to perform the Exploration Systems Architecture Study (ESAS). The ESAS team performed in-depth evaluations of a number of space transportation architectures and provided recommendations based on their findings? The ESAS analysis focused on a human-rated Crew Launch Vehicle (CLV) for astronaut transport and a heavy lift Cargo Launch Vehicle (CaLV) to carry equipment, materials, and supplies for lunar missions and, later, the first human journeys to Mars. After several months of intense study utilizing safety and reliability, technical performance, budget, and schedule figures of merit in relation to design reference missions, the ESAS design options were unveiled in summer 2005. As part of NASA's systems engineering approach, these point of departure architectures have been refined through trade studies during the ongoing design phase leading to the development phase that begins in 2008. Comprehensive reviews of engineering data and business assessments by both internal and independent reviewers serve as decision gates to ensure that systems can fully meet customer and stakeholder requirements. This paper provides the current CLV and CaLV configuration designs and gives examples of the progress being made during the first year of this significant effort. Safe, reliable, cost-effective space transportation systems are a foundational piece of America s future in space and the next step in realizing the plan for revitalizing lunar capabilities on the passageway to the human exploration of Mars. While building on legacy knowledge and heritage hardware for risk reduction, NASA will apply lessons learned from developing these new launch vehicles to the growth path for future missions. The elements for mission success and continued U.S. leadership in space have been assembled over the past year. As NASA designs and develops these two new systems over the next dozen years, visible progress, such as that reported in this paper, may sustain the national will to stay the course across political administrations and weather the inevitable trials that will be experienced during this challenging endeavor.

Snoddy, Jimmy R.↗

NASA NTRS2011

Wallops Ship Surveillance System

Approved as a Wallops control center backup system, the Wallops Ship Surveillance Software is a day-of-launch risk analysis tool for spaceport activities. The system calculates impact probabilities and displays ship locations relative to boundary lines. It enables rapid analysis of possible flight paths to preclude the need to cancel launches and allow execution of launches in a timely manner. Its design is based on low-cost, large-customer- base elements including personal computers, the Windows operating system, C/C++ object-oriented software, and network interfaces. In conformance with the NASA software safety standard, the system is designed to ensure that it does not falsely report a safe-for-launch condition. To improve the current ship surveillance method, the system is designed to prevent delay of launch under a safe-for-launch condition. A single workstation is designated the controller of the official ship information and the official risk analysis. Copies of this information are shared with other networked workstations. The program design is divided into five subsystems areas: 1. Communication Link -- threads that control the networking of workstations; 2. Contact List -- a thread that controls a list of protected item (ocean vessel) information; 3. Hazard List -- threads that control a list of hazardous item (debris) information and associated risk calculation information; 4. Display -- threads that control operator inputs and screen display outputs; and 5. Archive -- a thread that controls archive file read and write access. Currently, most of the hazard list thread and parts of other threads are being reused as part of a new ship surveillance system, under the SureTrak project.

Smith, Donna C.↗

DOE OSTI2021

Tritium Transport Phenomena in Molten-Salt Reactors: Molten Salt Tritium Transport Experiment Design

Tritium is produced from neutron interactions with both lithium and beryllium. Large quantities of tritium are generated in Molten Salt Reactors (MSRs) which use LiF/BeF2 (FLiBe) as the fuel salt. Tritium is unique among the radionuclide hazards as it readily permeates through metal structural materials at high temperatures. All metal surfaces are potential release paths for tritium. For adequate safety analysis and eventual licensing of new reactors, predictive models for tritium transport and release from MSRs must be developed. These models must account for the multiple transport phenomena involved with tritium: fuel salt phase mass transport, dissociation/recombination reactions on metal surfaces, interstitial diffusion through the metal structure, and salt or gas phase mass transport in the downstream fluid. These models also must also be validated with representative experiments. Our previous report outlined tritium transport phenomena involved in MSRs, made suggestions on gaps in the transport dataset, and proposed an experimental test stand to test combined transport effects – tritium transport through pipe walls in a convective salt flow. In this report, we summarize an updated analysis framework for tritium transport in MSRs, report our results on hydrogen and deuterium permeation through Hastelloy N, and describe the final design of the Molten Salt Tritium Transport Experiment (MSTTE, pronounced “misty”). The MSRE provides the only wholistic experimental data set for tritium transport in MSRs and understanding the transport phenomena involved in the MSRE is crucial for future model development. One set of parameters in our analysis framework was unknown for the MSRE—surface reaction rates for tritium on Hastelloy N. This warranted our hydrogen and deuterium permeation campaign to assess the permeability, diffusivity, and solubility of hydrogen isotopes in clean Hastelloy N. Surface reaction rate constants were probed by low pressure measurements, however, no surface effects were observed in the limits of our permeation apparatus. Permeation experiments on oxidized Hastelloy N were not performed for this report but are planned in future work. The experimental test stand, MSTTE, measures combined transport properties of the salt-metal system. MSTTE is a forced convection FLiBe loop with custom designed test section to measure tritium transport through candidate structural materials. We use MSRE relevant dimensionless numbers to design and scale the test section. Hastelloy N is a candidate loop and test section material due to the relevance for the MSRE and related designs, however, other metals are being considered (e.g. 316H SS) which may better align with current vendor concepts.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS2002

Commercial Research and Development: Power to Explore, Opportunities from Discovery

The technical and economic goals of commercial use of space are laudable, and are addressed as a high priority by almost every national space program and most major aerospace companies the world over. Yet, the focus of most organizational agendas and discussions tends to focus on one or two very narrow enabling aspects of this potentially large technological and economic opportunity. While government sponsored commercial launch activities and private space platforms are an integral part of efforts to leverage the commercial use of space, these activities are possibly one of the smallest parts of creating, a viable and sustainable market for the commercial use of space. Most of the current programs usually do not appropriately address some of the critical issues of the current, already interested, potential space user communities. Current programs place the focus of the majority of the user requirements on the vehicle payload weight and mass performance considerations as the primary payload economical factor in providing a commercial market with a stimulating price for gaining access to the space environment. The larger user challenges of transformation from Earth-based research and development approaches to space environment approaches are not addressed early enough in programs to impact the new business considerations of potential users. Currently, space-based research and development user activities require a large user investment in time, in development of new areas of support expertise, in development of new systems, in risk of schedule to completion, and in long term capital positioning. The larger opportunities for stimulating a strong market driven interest in commercial use of space that could result from the development of vehicle payload "leap ahead technologies" for users are being missed, and there is a real risk of limiting the potentially broader market base to support a more technologically advanced and economically lucrative outcome. A major driving force for strengthening the commercial space activities is not only the technological advances in launch vehicle, or newer satellites, but the myriad of enabling payloads technologies that could, as a goal, result in an almost transparent facilitation to regular CD a, -n access to space and microgravity environments by the future users from the existing Earth-based research and development organizations market segments. Rather than focusing only on developing high lift performance launch vehicles and then developing payloads to fit them, the real focus from a business model perspective should to be on the customer payloads requirements, and on designing launch vehicles and platforms systems for a space transportation and facility infrastructure to support all aspects of the business model for the user market. To harness the full potential of space commercialization, new efforts need to be made to comprehensively examine all the critical business model areas for commercial research, development, and manufacturing in space so as to identify specific products and efforts; to determine how such operations must be both similar to and different from current Earth-based activities; to evaluate the enabling technological devices, processes and efforts so that like efforts can be addressed in a synergistic fashion for maximum user cost effectiveness; to delineate the services that are both needed and can be provided by such activities; and to use this information to drive design and development of space commercialization efforts and policy.

Casas, Joseph C.↗

NASA NTRS1996

Antenna pointing mechanism for ESA ENVISAT polar platform

INTA is currently developing a two-degree-of-freedom antenna pointing mechanism (APM) as part of the ESA ENVISAT POLAR PLATFORM (PPF) program. This mechanism will drive a Ka-band antenna within the Data-Relay Satellite System (DRS) on board the Polar Platform satellite. The first mission using PPF is ENVISAT, which is expected to be flown in 1998. This paper describes the main requirements, design, and test results of this pointing system, as well as the main technical problems from customer requirements and how those have been faced to achieve a final design.

Serrano, J.↗

NASA NTRS1975

Design of multi-mission chemical propulsion modules for planetary orbiters. Volume 1: Summary report

Results are presented of a conceptual design and feasibility study of chemical propulsion stages that can serve as modular propulsion units, with little or no modification, on a variety of planetary orbit missions, including orbiters of Mercury, Saturn, and Uranus. Planetary spacecraft of existing design or currently under development, viz., spacecraft of the Pioneer and Mariner families, are assumed as payload vehicles. Thus, operating requirements of spin-stabilized and 3-axis stabilized spacecraft have to be met by the respective propulsion module designs. As launch vehicle for these missions the Shuttle orbiter and interplanetary injection stage, or Tug, plus solid-propellant kick motor was assumed. Accommodation constraints and interfaces involving the payloads and the launch vehicle are considered in the propulsion module design. The applicability and performance advantages were evaluated of the space-storable high-energy bipropellants. The incentive for using this advanced propulsion technology on planetary missions is the much greater performance potential when orbit insertion velocities in excess of 4 km/sec are required, as in the Mercury orbiter. Design analyses and performance tradeoffs regarding earth-storable versus space-storable propulsion systems are included. Cost and development schedules of multi-mission versus custom-designed propulsion modules are examined.

Source record↗

NASA NTRS2019

Program Management for Concurrent University Satellite Programs, Including Propellant Feed System Design Elements

Propulsion options for CubeSats are limited but are necessary for the CubeSat industry to continue future growth. Challenges to CubeSat propulsion include volume/mass constraints, availability of sufficiently small and certified hardware, secondary payload status, safe storage of high energy, and power requirements. A multi-mode (chemical and electric) thruster was developed by at the Missouri University of Science and Technology (Missouri S&T) to enable CubeSat propulsion missions. Two satellite buses, a 3U and 6U, are being developed by the M-SAT satellite research team at Missouri S&T to demonstrate the multi-mode thruster's capabilities. Two key challenges related to these missions are the development of the feed system to support the thruster and management of the two programs' personnel, resources, timelines, and budgets. The feed system was designed to support the unique needs of the thruster including material compatibility with the custom ionic liquid, variable flow rate, high pressurization, and high voltage within the constraints and budget of a student-designed propulsion system. The feed system was also designed to minimize risk as a secondary payload. This resulted in the development of a unique method to pressurize propellant stored in the feed system tubing. Within the expected operating pressure range, the method was experimentally shown to provide sufficient pressure and propellant volume to the thruster to meet mission success criteria. The 3U and 6U CubeSat buses were designed concurrently with complimentary payloads, hardware, objectives, and team structures. Resources such as personnel, lab space, and time had to be carefully balanced between the two teams. With proper management, the two programs have been able to support one another, providing valuable insight and collaboration between the two teams. Lessons learned include experience with design, testing, and assembly of hardware, team training/mentoring and motivation, improved documentation practices, and risk management.

Withrow, Shannah Nichole↗

NASA NTRS1987

Bioreactor design concepts

Two parallel lines of work are underway in the bioreactor laboratory. One of the efforts is devoted to the continued development and utilization of a laboratory research system. That system's design is intended to be fluid and dynamic. The sole purpose of such a device is to allow testing and development of equipment concepts and procedures. Some of the results of those processes are discussed. A second effort is designed to produce a flight-like bioreactor contained in a double middeck locker. The result of that effort has been to freeze a particular bioreactor design in order to allow fabrication of the custom parts. The system is expected to be ready for flight in early 1988. However, continued use of the laboratory system will lead to improvements in the space bioreactor. Those improvements can only be integrated after the initial flight series.

Bowie, William↗