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NASA NTRS2018

Internship in Augmented and Virtual Reality - Rapid Model Import Tool

The integration of virtual and augmented reality, sometimes called mixed reality, is an emerging technology which will likely skyrocket overnight much in the way smartphones did a decade ago. Kennedy Space Center's Augmented and Virtual Reality (AVR) Lab is developing a Rapid Model Import Tool (RMIT) to create a quick and efficient way to bring NASA's complex engineering 3D models into virtual and augmented environments. The long-term objective is to create a tool that will ultimately benefit KSC engineers. Its various uses within NASA can potentially span from astronaut training, to marketing, to public outreach, to name a few. Unity is a prolific cross-platform game engine that allows users to build high quality 2D and 3D games for desktop, mobile, web, and game console platforms. It is perhaps also the most widely used software for virtual reality game development. At the AVR lab, we are looking at alternative uses of Unity to build tools for NASA engineers to perform design, development, testing, and training on spacecraft, rocket delivery systems, ground support equipment, and facilities at KSC. As an intern for the RMIT project, I am charged with the task of performing research on Unity-compatible file types to develop an efficient, affordable, preservative process to bring models from CATIA 3D engineering software into the Unity environment. With a tool called the NASA Enterprise Visualization Application (NEVA), developed by the Boeing Design Visualization group at KSC, we are able to easily convert CATIA's design models to. DAE (also known as COLLADA) and .OBJ file formats. I first reduce the polygon count of the model within CATIA itself, make any necessary tweaks to reduce the model further, and then export using NEVA. The .OBJ or. DAE files that I am left with are then converted by another intern to a Unity-compatible file format using a custom Python script. I have generated extensive documentation of this process in a NEVA User Guide. By the end of this semester, we will have built a solid framework for RMIT based on a thorough understanding of virtual reality specifications and file requirements, allowing future software development teams to go forward with development on the custom tool.

Leap Motion↗
NASA NTRS2018

Automated Spacecraft Communications Service Demonstration Using NASA's SCaN Testbed

The traditional paradigm for space mission operations relies on inefficient, highly scripted pre-planned activities between space communications and navigation service providers and user ground mission operations centers. Typically there is limited or non-existent automation capabilities on the user spacecraft for requesting space communications services, and on the provider network for request dispositioning and service provisioning. In the past, using these processes for space networks was sufficient with the relatively small number of user spacecraft requesting services. However, with an ever increasing number of satellites being launched to orbit, more complex event-driven science objectives, exploration missions involving collaborative platforms, and more distant missions, approaches that improve automation, flexibility and efficiency are needed. This paper describes NASA's recently completed on-orbit demonstration results of a new space communications service concept called User Initiated Service, and a discussion for infusing this innovation into operations.

transmitters receivers↗
NASA NTRS2018

Digital Image Correlation Data Processing and Analysis Techniques to Enhance Test Data Assessment and Improve Structural Simulations

The NASA Shell Buckling Knockdown Factor Project (SBKF) was established in 2007 by the NASA Engineering and Safety Center (NESC) with the primary goal to develop new analysis-based buckling design factors (a.k.a. knockdown factors) and high-fidelity buckling simulations for selected launch-vehicle-like cylindrical shell structures. A series of tests are being conducted on large-scale metallic and composite cylindrical shells in order to provide validation data for these new factors and simulations. However, the validation of these new factors and simulations is quite demanding and requires test data that is commensurate with their fidelity. Traditional instrumentation, such as linear variable displacement transducers (LVDTs) and electrical-resistance strain gages serve a critical role in providing accurate displacement and strain measurements in these tests, but only allow for data to be recorded at a select number of point locations and are not sufficient to provide all the necessary validation data. Advanced measurement technologies can be used effectively to complement traditional instrumentation and gather additional data required to validate these structural simulations. In particular, three-dimensional digital image correlation (DIC) was implemented during SBKF cylinder testing to characterize the full-field displacement and strain behavior. Commercially available VIC-3DTM software and user-written data processing scripts were used to generate valuable data and insight into the complex buckling response of the cylinders that otherwise would be impossible to gather using traditional instrumentation. In addition, the measured data from DIC was used to verify measured test data obtained from other instrumentation, enhance test and analysis correlation, and help identify the root cause of anomalous test results that may have gone unexplained if only traditional instrumentation was used. Selected test results that demonstrate the use of DIC on the SBKF cylinders are presented and a portion of the data processing methods are described.

Gardner, Nathaniel W.↗
NASA NTRS2018

Required Time of Arrival as a Control Mechanism to Mitigate Uncertainty in Arrival Traffic Demand Management

The objective of this study is to explore the use of Required Time of Arrival (RTA) capability on the flight deck as a control mechanism on arrival traffic management to improve traffic delivery accuracy by mitigating the effect of traffic demand uncertainty. The uncertainties are caused by various factors, such as departure error due to the difference between scheduled departure and the actual take-off time. A simulation study was conducted using the Multi Aircraft Control System (MACS) software, a comprehensive research platform developed in the Airspace Operations Laboratory (AOL) at NASA Ames Research Center. The Crossing Time (CT) performance (i.e. the difference between target crossing time and actual crossing time) of the RTA for uncertainty mitigation during cruise phase was evaluated under the influence of varying two main factors: wind severity (heavy wind vs. mild wind), and wind error (1 hour, 2 hours, and 5 hours wind forecast errors). To examine the CT performance improvement made by the RTA, the comparison to the CT of the aircraft that were not assigned with RTA (Non-RTA) under the influence of the selected factors was also made. The Newark Liberty International Airport (EWR) was chosen for this study. A total 66 inbound traffic to the EWR (34 of them were airborne when the simulation was initiated, 32 were pre-departures at that time) was simulated, where the pre-scripted departure error was assigned to each pre-departure (61 conform to their Expected Departure Clearance Time, which is +-300 seconds of their scheduled departure time). The results of the study show that the delivery accuracy improvement can be achieved by assigning RTA, regardless of the influence of the selected two factors (the wind severity and the wind information inaccuracy). Across all wind variances, 66.9 (265 out of 396) of the CT performance of the RTA assigned aircraft was within +- 60 seconds (i.e. target tolerance range) and 88.9 (352 out of 396) aircraft met +-300 seconds marginal tolerance range, while only 33.6 (133 out of 396) of the Non-RTA assigned aircrafts CT performance achieved the target tolerance range and 75.5 (299 out of 396) stayed within the marginal. Examination of the impact of different error sources i.e. departure error, wind severity, and wind error suggest that although large departure errors can significantly impact the CT performance, the impacts of wind severity and errors were modest relative the targeted +- 60 second conformance range.

required time of arrival (RTA)↗
NASA NTRS2018

Generic Control Allocation Toolbox for Preliminary Vehicle Design

This paper describes the development and application of a Generic Control Allocation Toolbox developed at NASA Langley Research Center (LGCAT) intended to aid engineers during the preliminary design phase of an aerospace vehicle. The static controllability space in the forms of a Theoretical Attainable Moment Set, Φ, or Theoretical Attainable Force Set, φ is difficult to visualize for modern vehicles with multiple types of redundant control effectors. The objective of LGCAT is to provide system engineers and designers early in the vehicle design phase with quick insights on how control effector parameters such as quantity, sizing, location, orientation, redundancy, etc., affect the overall controllability and other performance metrics. Having such information in hand allows system engineers to make more informed decisions on overall mission objectives such as performance vs. reliability vs. cost, etc. early in a vehicle design phase and reduce the number of iterations necessary in the design and analysis cycles. LGCAT can accept a variety of control effector types including aerodynamic surfaces, rotors, thrust vector control (TVC) engines, and reaction control systems (RCS). LGCAT is MATLAB based, user friendly, and is capable of performing the analysis in the Graphical User Interface (GUI) or script mode. Current add-on features include interfacing with engineering level codes such as Vehicle Sketch Pad (VSP) and generating the corresponding Φ and φ for an arbitrary vehicle design. These capabilities potentially make LGCAT an integral part of the preliminary design phase for any vehicle.

Pei, Jing↗
NASA NTRS2014

UAS Contingency Management: The Effect of Different Procedures on ATC in Civil Airspace Operations

Current study examined the impact of four, currently-employed, unmanned aerial system (UAS) contingency procedures on air traffic controller (ATC) workload and performance. Controllers managed a Terminal Radar Approach Control (TRACON) sector while a single UAS passed through their sector. In four of the five scenarios, the UAS was scripted to experience an emergency (e.g., loss of command and control link, sudden drop in oil pressure) and then execute one of four possible contingency maneuvers. The fifth scenario was a baseline and contained no emergency. Results showed no significant differences in performance or workload among the four the study's design discussed.

Contingency Management↗
NASA NTRS2018

LADEE Simulation for Mission Operations

The Lunar Atmosphere Dust Environment Explorer (LADEE) model-based spacecraft simulator has been discussed previously at the Workshop on Spacecraft Flight Software including the verification and validation of the flight software, hardware integration of payloads, and multi-domain simulation. In addition to flight software development and testing the LADEE simulator was used by Mission Operations to develop and test spacecraft command scripts, train operators during mission simulations, verification of all tactical command sequence files uploaded to spacecraft during flight.This presentation will discuss the experience of the LADEE operations team using the spacecraft simulator including implementation, processes and lessons learned. We will also discuss a specific instance where the simulator was used in operations to debug and design a software fix for a spacecraft anomaly experienced with the star tracker.

Operations↗
NASA NTRS2016

MONTE: the Next Generation of Mission Design and Navigation Software

The Mission Analysis, Operations and Navigation Toolkit Environment (MONTE) is an astrodynamic toolkit produced by the Mission Design and Navigation Software Group at the Jet Propulsion Laboratory. It provides a single integrated environment for all phases of deep space and Earth orbiting missions. Capabilities include: trajectory optimization and analysis, operational orbit determination, flight path control, and 2D/3D visualization. MONTE is presented to the user as an importable Python language module. This allows a simple but powerful user interface via CLUI or script. In addition, the Python interface allows MONTE to be used seamlessly with other canonical scientific programming tools such as SciPy, NumPy, and Matplotlib. MONTE is the prime operational orbit determination software for all JPL navigated missions.

Optimization↗
NASA NTRS2016

A Structured, Model-Based Systems Engineering Methodology for Operations System Design

Two widely accepted techniques for lowering the cost and risk of developing systems are (1) the use of a defined systems engineering (SE) process or methodology and (2) the reuse of existing (previously built) system components. The first technique is represented, for example, in materials published by NASA (e.g., NASA Systems Engineering Handbook) or by professional societies such as INCOSE (International Council on Systems Engineering). Well-formed SE techniques provide value by establishing the proper scope of the system (e.g., requirements), and by identifying and resolving problems relatively early in project lifecycles, when fixes are less expensive. The second technique (reuse) is applied most commonly to hardware and software; it seeks to avoid replicating design and implementation costs while also reducing risk by placing proven capabilities into operational use. In this paper, we outline a methodology combining these two techniques and extending reuse beyond hardware and software to foundational aspects of a Mission Operation System’s (MOS) design. We describe the system design artifacts that result (e.g., requirements, design documentation), as well as the reusable patterns and elements of the design, and their interrelationships. This approach is enabled by model-based systems engineering (MBSE) techniques and tools and is currently available in SysML form as a plug-in to MagicDraw. Additionally, usage of a rigorous MBSE approach allows for training materials and tutorials to be packaged within the overall model itself. The results of such an approach include decreased cost and risk during the design phase, improved ability of the MOS development team to investigate trade spaces and identify impacts to important flight-ground trade studies. Such results extend into decreased costs and risk in later phases due to improved design, decreased need for late fixes or development of "glue-ware" or scripts to fill unanticipated gaps in functionality, and improved ability to identify and plan testing and other validation activities. Finally, lower operational costs can be expected, both due to improved quality of the MOS, increased ease of maintaining updated knowledge of system configuration, and the fact that training and procedural materials are also updated at the same time as accepted system changes.

Bindschadler, Duane L.↗
NASA NTRS2017

Validation of Minimum Display Requirements for a UAS Detect and Avoid System

The full integration of Unmanned Aircraft Systems (UAS) into the National Airspace System (NAS), a prerequisite for enabling a broad range of public and commercial UAS operations, presents several technical challenges to UAS developers, operators and regulators. A primary barrier is the inability for UAS pilots (situated at a ground control station, or GCS) to comply with Title 14 Code of Federal Regulations sections 91.111 and 91.113, which require pilots to “see and avoid” other aircraft in order to maintain well clear. UAS pilots’ removal from the flight deck of the aircraft necessitates the development of a UAS-specific system for detecting nearby traffic and displaying traffic information to the pilot to support their ability to maintain an objectively defined “DAA well clear” threshold from other aircraft. This new UAS-specific function of remaining DAA well clear is called traffic avoidance. The resulting Detect and Avoid (DAA) system, however, will be subject to a collection of requirements that manufacturers will be obligated to meet in order to certify their equipment. RTCA Special Committee 228 (SC-228), a consortium of representatives from government, industry and academia, is responsible for developing and documenting the Minimum Operational Performance Standards (MOPS) for UAS DAA systems. The present study is the final in a series of human-in-the-loop (HITL) experiments designed to explore and test the various display and alerting requirements being incorporated into the DAA MOPS. Whereas the prior DAA HITLs examined a wide variety of DAA display features and concepts, the current experiment aims to validate the latest minimum display requirements for Phase 1 of the DAA MOPS. Rather than test different display concepts, this study tests two configurations of a MOPS-compatible DAA display: a version that is integrated into the primary navigation and control display of the GCS and a version that is physically separated from the primary display. This manipulation tests the draft minimum requirement that allows the DAA traffic display to be a separate, or standalone, configuration. This type of configuration is a more achievable near-term technology solution since it does not stipulate additional certification or integration requirements on UAS manufacturers. However, a standalone display configuration has the potential to result in pilot performance issues resulting from the cognitive costs of switching between the primary DAA display and the primary navigation and control display. This configuration is also particularly susceptible to errors if the displays are in different orientations (e.g., north-up versus track-up). Both the integrated and standalone display configurations were presented to 16 active UAS pilots in a medium-fidelity simulation, which included confederate air traffic controllers and pseudo pilots operating simulated manned traffic. Pilots were tasked with navigating two different mission routes while maintaining DAA well clear with scripted conflicts. Pilot response times (i.e., measured response) and ability to remain DAA well clear are reported. Primary results indicate that both display configurations resulted in favorable response times and well clear rates. While there were clear trends of pilots objectively performing better in the integrated display condition, with several measured response metrics reaching statistical significance, the differences between the two displays were typically moderate. While the primary variable of DAA display location did not have an especially large impact on pilot performance on its own, when examined alongside the type of DAA threat the pilot was facing (a caution-level versus a warning-level alert), the response time benefits associated with the integrated display were amplified. The implications of these American Institute of Aeronautics and Astronautics 2 results on the Phase 1 DAA MOPS and the connection of this data to previous studies is also discussed.

detect and avoid↗
NASA NTRS2019

A Detect and Avoid System in the Context of Multiple-Unmanned Aircraft Systems Operations

NASA's Unmanned Aircraft Systems Integration into the National Airspace System (UAS in the NAS) project examines the technical barriers associated with the operation of UAS in civil airspace. For UAS, the removal of the pilot from onboard the aircraft has eliminated the ability of the ground-based pilot in command (PIC) to use out-the-window visual information to make judgements about a potential threat of a loss of well clear with another aircraft. NASA's Phase 1 research supported the development of a Detect and Avoid (DAA) system that supports the ground-based pilot's ability to detect potential traffic conflicts and determine a resolution maneuver, but existing display/alerting requirements did not account for multiple UAS control (1:N). Demands for increased scalability of UAS in the NAS operations are expected to create a need for simultaneous control of UAs, and thus, a new DAA HMI design will likely be necessary. Previous research, however, has found performance degradations as the number of vehicles under operator control has increased. The purpose of the current human-in-the-loop (HITL) simulation was to examine the viability of 1:N operations with the Phase 1 DAA alerting and guidance. Sixteen UAS pilots flew three scenarios with varying number of UAs under their control (1:1, 1:3, 1:5). In addition to their supervisory and sensor mission responsibilities, pilots were to utilize the DAA system to remain DAA well clear (DWC) during scripted conflicts of mixed severity. Measured response times, separation performance, mission task data, and subjective feedback were collected to assess how the multi-UAS control configuration impacted pilots' ability to maintain DAA well clear and perform the mission tasks. Overall, the DAA system proved surprisingly adaptive to multi-UAS control for preventing losses of DAA well clear (LoDWC). The findings suggest that, while multi-UAS operators are able to maintain safe separation (DWC) from other traffic, their ability to efficiently perform missions drastically decreases with their number of controlled vehicles. Pilot feedback indicated that, for this context, the use of automation support tools for completing and managing mission tasks would be appropriate and desired, especially for ensuring efficient use of assets. Finally, human-machine interface (HMI) design considerations for multi-UAS operations are discussed.

Monk, Kevin J.↗
NASA NTRS2018

Determination of Uncertainties for Analytically Derived Material Properties to Be Used in Monte Carlo Based Orion Heatshield Sizing

Ablative materials are often used for spacecraft heatshields to protect underlying structures from the extreme environments associated with atmospheric reentry. NASA's Orion EM-1 capsule has been designed to use a molded Avcoat material system. In order to determine the required heatshield thickness, a Monte Carlo approach to the sizing process was proposed. To perform the Monte Carlo simulation, statistical uncertainties on all material property input parameters were required. Obtaining these values for measured properties is straightforward, however input parameters that are derived analytically have historically used uncertainties based on engineering judgment. A MATLAB program was created to use laboratory generated thermogravimetric analysis (TGA) data to calculate uncertainties on the Arrhenius parameters for molded Avcoat. Uncertainties associated with the normalized ablation rate and pyrolysis gas enthalpy were also generated using a wrapper script and the ACE code. These uncertainties could then be tied directly to measured values of individual elemental constituents. The resulting uncertainty values will allow for a probabilistic sizing approach on molded Avcoat with a higher level of confidence in the input parameters.

material property uncertainties↗
NASA NTRS2019

Fine Guidance Sensor Data

The Kepler and K2 missions collected Fine Guidance Sensor (FGS) data in addition to the science data, as discussed in the Kepler Instrument Handbook (KIH, Van Cleve and Caldwell 2016). The FGS CCDs areframe transfer devices located in the corners of the Kepler focal plane, which are read out 10 times every second. The FGS data are being made available to the user community for scientific analysis as flux and centroid time series, along with a limited number of FGS full frame images which may be useful for constructing a World Coordinate System (WCS) or otherwise putting the time series data in context. This document will describe the data content and file format, and give example MATLAB scripts to read the time series.

FGS↗
NASA NTRS2014

Advanced Inspection System: Integrating Robotic Configurations & Controls

The Advanced Inspection System (AIS) promotes the ability to perform field inspections and repairs remotely by operator command. The robotic system is required to be a fully autonomous operation, managed by computer execution of scripts with limited user control. AIS is a complex yet intriguing challenge in which various goals must be reached to achieve complete autonomy. The first steps to building such a system require human computer interactions and computer simulations for testing and verification. Such applications include the use of a wireless video game controller via Bluetooth Technology and the use of Leap Motion, a gesture based motion controller which can be used to manipulate robotic arm movements. Utilizing the Robotic Operating System (ROS) environment, these applications, in accordance to developing a 3D simulation of the system, will provide a foundational test bed for AIS development.

Wlodarczyk, Stephan J.↗
NASA NTRS2020

Julia Programming Language Benchmark Using a Flight Simulation

Julia is a relatively new computer language that aims to reduce the challenge for mathmodelers to develop fast computer tools and simulations. It potentially combines the ease-of-coding feature of scripting languages (like Python) with the performance of compiled languages (like C++). A key question for Julia application to the simulation domain is, “Can Julia, with its obvious coding simplicity, provide runtime speeds comparable to conventional compiled languages for flight simulation?” A unique combination of existing elements can be employed to address the previous question: Extensively documented object-oriented simulation architecture, Industry standard rocket flight simulation, Separate versions (C++, Java, and Python) already benchmarked.

Sells, Ray↗
NASA NTRS2020

Distributed Spacecraft Autonomy (DSA): Development of Swarm Autonomy Capability and Scalability for Spacecraft

The Distributed Spacecraft Autonomy project is developing a suite of software tools that enable an operator to command and receive data from a swarm as a single entity, enable a swarm to autonomously coordinate its actions via distributed decision making and reactive closed-loop control, and model swarm behavior in the presence of anomalies or failures. Our use case is the mapping of the electron density of the ionosphere using radio tomography by coordinating the selection of appropriate GPS channels, and by recording Total Electron Count (TEC)measurements. DSA will be demonstrated on board the NASA Ames Starling mission a swarm of four small, LEO spacecraft, scheduled to launch in 2021. We will also perform a ground demonstration with simulated and hardware-in-the-loop elements, to validate the tools for controlling swarms of up to 100 assets.The capability to communicate autonomously between the swarm satellites is demonstrated via a sophisticated simulation architecture. Historical Plasma sphere TEC data obtained via dual-band Novatel GPS Receivers are utilized as a representative input data set for the swarm. The representative TEC data and GPS satellite observability information is fed to the autonomous software package in place of a true real-time ground data collection process. The swarm satellites actively share status updates amongst one another and utilize multi-agent decision making to optimally identify regions of interest in the TEC distribution. The software,aware of the bandwidth limitations of the swarm satellites, prioritizes explorative measurements,which define the range of observability for the satellites, as well as exploitative measurements,which focus on maximizing the observance potential of regions with prolonged, elevated TEC density. The science of this study can ultimately be used to determine the dynamics and coupling of Earth's magnetosphere, ionosphere, and atmosphere and their response to solar and terrestrial inputs. The findings can be applied to the imaging of critical, transient phenomena in the magnetosphere in later missions. Meanwhile, the swarm autonomy capabilities have far reaching potential in future satellite missions.As an experimental demonstration of the autonomous capabilities of the network, a message is first printed within a core Flight Executive (cFE) application. Two cFE applications that communicate with one another within the same core Flight System (cFS) are shown.Communication between mission applications on the internal cFE bus is extended to utilize Data Distribution Service (DDS) for vehicle-to-vehicle networking. The DDS middle ware provides reliable delivery, routing, and topic subscription features over User Data gram Protocol (UDP).Leveraging Linux containerization, a networked set of satellite instances are generated by script to simulate swarm behavior. Swarm commanding and synchronization through the network is demonstrated under various topologies and data-loss conditions. Finally, autonomous swarms calability from 2 satellites to 100 satellites is shown.

Fugate, Jason↗
NASA NTRSDate not supplied

TPSAS-NF1676L-32060-DND

All previous PSP testing done in the Unitary Plan Wind Tunnel (UPWT) have required a significant amount of manual operation of the system. This has resulted in decreased testing efficiency and precluded the ability to provide near real-time data analysis to the customer. The overall goal of this project is to integrate the PSP data acquisition system into the supersonic UPWT data acquisition system (DAS) and create an adaptive software platform from which PSP data acquisition can be triggered by the tunnel and critical testing conditions can be recorded in real time for rapid analysis of the PSP data. This analysis includes the mapping of up to eight camera views onto a surface grid for analysis and converting to pressure using parameters supplied by the DAS. To fully implement this solution, communication must first be established between the Unitary DAS and the PSP DAS. This will be done by employing multiple scripts written in Python and C++ and implemented on a Linux cluster. These will be demonstrated and refined on an upcoming test (December 2018), and the successful completion will result in the ability to have automatic collection of PSP images and near real-time analysis capabilities.

Juliette Eddins↗
NASA NTRS2020

Toa Baja Disasters: Utilizing Open-Source Earth Observations to Inform the Toa Baja Municipality’s Flood Mitigation Efforts and Educate the Public

Toa Baja, located just west of San Juan in Puerto Rico, is known as “the underwater city” due to its propensity to flood. The city contains the mouth of the island’s longest river, Río de la Plata, which drains into the Atlantic Ocean on the northern edge of the municipality. Proximity to these major water features and the flat, low terrain contribute to the flood-prone nature of the area. During tropical storm events, such as Hurricane Maria in 2017, Toa Baja experienced inundation of up to 20 feet. Changes in the global climate system are causing more intense and frequent tropical storms, making places like Toa Baja subject to irreparable damage. This NASA DEVELOP project collaborated with the Municipio Autónomo de Toa Baja, ResilientSEE, and the Massachusetts Institute of Technology Urban Risk Lab to supplement recent 2018 Federal Emergency Management Agency Hydraulic Engineering Centers-River Analysis System flood maps, which designated 63% of the area as a flood plain. The analysis provides a high-resolution interpretation of flood susceptibility using a variety of factors that collectively influence the likelihood of flooding. Sentinel-1 C-Band Synthetic Aperture Radar (C-SAR) data processed with Google Earth Engine scripting identified historical inundation and was used for validation purposes. Socioeconomic factors were combined with the inundation layer producing a final risk output. These outputs will improve public understanding of exposure to flood risk in Toa Baja and provide scientific evidence for flood mitigation advocacy.

Disasters↗