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Tcl and Tk facilitate design and code reuse in the ZIPSIM series of high-performance, high-fidelity spacecraft simulators. Tcl and Tk provide a framework for the construction of the Graphical User Interfaces for the simulators. The interfaces are architected such that a large proportion of the design and code is used for several applications, which has reduced design time and life-cycle costs.
This is the Unmanned Aircraft Systems (UAS) Traffic Management (UTM) Technical Capability Level(TCL) 2.0 Software Version Description (SVD) document. This UTM TCL 2.0 SVD describes the following four topics: 1. Software Release Contents: A listing of the files comprising this release 2. Installation Instructions: How to install the release and get it running 3. Changes Since Previous Release: General updates since the previous UTM release 4. Known Issues: Known issues and limitations in this release
This paper discusses the use of Tcl-formatted data definition files processed at compile time in place of runtime-loaded text tables.
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The Unmanned Aircraft Systems (UAS) Traffic Management (UTM) Technical Capability Level (TCL) 2 software implements the UTM TCL 2 software requirements described herein. These software requirements are linked to the higher level UTM TCL 2 System Requirements. Each successive TCL implements additional UTM functionality, enabling additional use cases. TCL 2 demonstrated how to enable expanded multiple operations by implementing automation for beyond visual line-of-sight, tracking operations, and operations flying over sparsely populated areas.
To evaluate dissimilar material interactions in flowing eutectic Pb-16at. %Li between fusion-relevant materials and to establish a maximum operating temperature of future blanket designs, a series of thermal convection loop (TCL) experiments with flowing PbLi have been conducted. Following a 1000-h, 550°C to 650°C TCL experiment, a thin reaction product was observed on the surface of monolithic, high-purity SiC. To identify the source of the observed dissimilar material interaction and to understand the reaction kinetics, an identical 2000-h TCL exposure was conducted, but less reaction of the SiC specimen was observed. Characterization of the FeCrAlMo (alloy APMT) loop tubing and the PbLi-exposed austenitic stainless steel (SS) assembly parts suggested that the formation of the reaction layer on the surface of the PbLi-exposed SiC did not originate from the coated reduced activation ferritic martensitic (RAFM) steel, but from the dissolved loop materials (liquid metal exposed APMT tubing and type 316 SS fittings). Here, the results, after 2000 h, suggest that the dissimilar material reaction between the Al-coated RAFM steel and the SiC has very slow reaction kinetics within a temperature gradient of 550°C to 650°C.
Analyses of toe clearance during the swing phase of locomotion has often been utilized in determining a subject s propensity to trip while either walking or stepping over an obstacle. In the literature, toe clearance has been studied using a marker on the superior aspect of the second toe (rtoe), a marker on the lateral aspect of the fifth metatarsal head (mth5), or a virtual marker positioned at the anterior tip of the toe (vtoe). The purpose of this study was to compute toe clearance and associated parameters using a fifth metatarsal marker and a virtual toe marker, and compare the results with those of the standard toe marker. Subjects walked on a motorized treadmill at five different speeds while performing a visual acuity task at two separate target distances (ten 60-second trials). The minimum vertical height (TCl) was determined for each stride, along with its point of occurence in the gait cycle, and the angles of the foot and ankle at that time. A regression analysis was performed on the vtoe and mth5 results versus rtoe individually. For all TCl parameters, the mth5 marker did not correlate well with rtoe; the vtoe marker showed better agreement. Most importantly, the mth5 marker predicted a later occurence of TCl than rtoe and vtoe - thereby missing the most dangerous point in swing phase for a trip. From this analysis, the vtoe marker proved to be a better analog to rtoe than mth5, especially for determining a subject s propensity to trip.
NASA's UTM project is conducting research on a traffic management concept for small unmanned aircraft systems (UAS) flying in low altitude, uncontrolled airspace. The project started in 2015 and is developing prototype UTM systems of successively complex technical capability levels (TCL) that are tested in the field. To date TCL levels 1-3 have been tested and TCL 4 will be tested in the summer of 2019. Project results are transferred to the FAA and industry to advance the adoption, implementation, and design standards of future UTM systems.
The goal of the Unmanned Aircraft System (UAS) Traffic Management (UTM) effort at NASA is to enable access to low-altitude airspace for small UAS. This goal is being achieved partly through partnerships that NASA has developed with the FAA, other government agencies, the UAS stakeholder community, and the designated FAA UAS Test Sites. This paper reports the technical and operational capabilities demonstrated during the UTM flight demonstration, March 6 through May 30, 2018. The demonstration featured geographically diverse operations, involving FAA UAS Test Sites in Alaska, Nevada, New York, North Dakota, Texas and Virginia. The demonstration leveraged the contributions of 30 partner organizations serving as UAS service suppliers, UAS operators, and/or providers of sensors, surveillance, connectivity, and management roles. Utilizing the UTM architecture developed at NASA, the demonstration explored 11 use cases for small UAS operations to highlight UTM capabilities at what NASA calls “Technical Capability Level (TCL) 3.” TCL 3 is characterized by multiple small UAS safely operating in moderately populated areas and beyond the visual line of sight of their operators. The TCL 3 flights demonstrated the basic feasibility of such operations in the UTM environment, including USS exchanges; communication, navigation and surveillance functions; sense and avoid capabilities; and technologies and procedures to enable them.
NASA has been developing a new spacesuit, called the Exploration Extravehicular Mobility Unit (xEMU) for over a decade. This spacesuit is under development to support missions to the International Space Station (ISS) and also to the Moon. Improvements in the life and robustness of the Portable Life Support System (PLSS) has been a major objective of these efforts. The Suit Water Membrane Evaporator (SWME) was chosen as the technology to provide cooling to the xEMU and has undergone several iterations of development over this period. An ISS flight experiment centered around the SWME and other thermal control loop (TCL) technologies was developed and tested in an ISS EXpedite PRocessing of Experiments to the Space Station (EXPRESS) rack from November of 2020 to August of 2022. In addition to the SWME, the SWME EXPRESS Rack Flight Experiment (SERFE) contains several technologies from the xEMU project and demonstrated their performance in micro-gravity and over an extended duration. These included two dissimilar water pumps, custom check valves, custom bypass relieve valves, a custom thermal control valve, development pressure and temperature sensors, and the thermal loop controller. This paper presents PLSS component lessons learned after return of the SERFE flight unit in August of 2022. The SERFE team took the flight unit apart and handed hardware components over to hardware owners to see how parts of the TCL managed after almost 2 years on the ISS and 25 simulated EVAs (Exploration Extravehicular Activity) on orbit. The team performed inspection, testing, and analysis and provided lessons learned on PLSS components for NASA’s prototype spacesuit. This analysis included how well SWME maintained its heat rejection capability, as well as looked at the robustness of the other TCL hardware.
NASA has been developing a new spacesuit, called the Exploration Extravehicular Mobility Unit (xEMU) for over a decade. This spacesuit is under development to support missions to the International Space Station (ISS) and also to the Moon. Improvements in the life and robustness of the Portable Life Support System (PLSS) has been a major objective of these efforts. The Suit Water Membrane Evaporator (SWME) was chosen as the technology to provide cooling to the xEMU and has undergone several iterations of development over this period. An ISS flight experiment centered around the SWME and other thermal control loop (TCL) technologies was developed and tested in an ISS EXpedite PRocessing of Experiments to the Space Station (EXPRESS) rack from November of 2020 to August of 2022. In addition to the SWME, the SWME EXPRESS Rack Flight Experiment (SERFE) contains several technologies from the xEMU project and demonstrated their performance in micro-gravity and over an extended duration. These included two dissimilar water pumps, custom check valves, custom bypass relieve valves, a custom thermal control valve, development pressure and temperature sensors, and the thermal loop controller. This paper presents PLSS component lessons learned after return of the SERFE flight unit in August of 2022. The SERFE team took the flight unit apart and handed hardware components over to hardware owners to see how parts of the TCL managed after almost 2 years on the ISS and 25 simulated EVAs (Exploration Extravehicular Activity) on orbit. The team performed inspection, testing, and analysis and provided lessons learned on PLSS components for NASA’s prototype spacesuit. This analysis included how well SWME maintained its heat rejection capability, as well as looked at the robustness of the other TCL hardware.
The present paper provides a performance evaluation of geometric correction in the Thematic Mapper Image Processing System (TIPS). TIPS forms a part of NASA's Thematic Mapper (TM) data processing facility. During a TM Research and Development period which continues through 1984, the geometric accuracy of TIPS is currently being evaluated. A description is given of TIPS geometric correction system, taking into account a TIPS overview and the Thematic Mapper Control Point Library Build (TCL). TCL generates control point chips which are stored in a library for subsequent use in the Thematic Mapper Archive Generation (TAG). Methods for measuring accuracy are discussed, giving attention to error estimation and direct measurement. A temporal registration evaluation from error estimation is considered along with a temporal evaluation from direct measurement, and a geodetic correction evaluation.
Tcl is an embedded control language written in C, running primarily under Unix and with an interpreted C look-and-feel. Tk is an X11 toolkit based on tcl. Xf is an application builder for tk. The entire package is public domain and available from sprite.berkeley.edu. This paper discusses the use of tk to develop a user interface for OSIRIS, an infrared camera/spectrograph now operational on the OSU Perkins 1.8m telescope. The good and bad features of the development process are described.
Eric Drexler has proposed a hypothetical nanotechnology based on diamond and investigated the properties of such molecular systems. While attractive, diamonoid nanotechnology is not physically accessible with straightforward extensions of current laboratory techniques. We propose a nanotechnology based on functionalized fullerenes and investigate carbon nanotube based gears with teeth added via a benzyne reaction known to occur with C60. The gears are single-walled carbon nanotubes with appended coenzyme groups for teeth. Fullerenes are in widespread laboratory use and can be functionalized in many ways. Companion papers computationally demonstrate the properties of these gears (they appear to work) and the accessibility of the benzyne/nanotube reaction. This paper describes the molecular design techniques and rationale as well as the software that implements these design techniques. The software is a set of persistent C++ objects controlled by TCL command scripts. The c++/tcl interface is automatically generated by a software system called tcl_c++ developed by the author and described here. The objects keep track of different portions of the molecular machinery to allow different simulation techniques and boundary conditions to be applied as appropriate. This capability has been required to demonstrate (computationally) our gear's feasibility. A new distributed software architecture featuring a WWW universal client, CORBA distributed objects, and agent software is under consideration. The software architecture is intended to eventually enable a widely disbursed group to develop complex simulated molecular machines.
The Multi-Mission System Architecture Platform (MSAP) project aims to develop a system of hardware and software that will provide the core functionality necessary in many JPL missions and can be tailored to accommodate mission-specific requirements. The MSAP flight hardware is being developed in the Verilog hardware description language, allowing developers to simulate their design before releasing it to a field programmable gate array (FPGA). FPGAs can be updated in a matter of minutes, drastically reducing the time and expense required to produce traditional application-specific integrated circuits. Bench test equipment connected to the FPGAs can then probe and run Tcl scripts on the hardware. The Verilog and Tcl code can be reused or modified with each design. These steps are effective in confirming that the design operates according specifications.
This is a presentation at the UAS TAAC conference. This is an invited session and will focus on UTM Briefing on field test results from TCL 2 and plans for TCL 3.
NASA's UAS Traffic management (UTM) -TCL-4 focuses on safely enabling large scale small UAS oper- ations in low altitude airspace in dense urban regions. This paper presents an operational architecture of an autonomous unmanned aerial vehicle operating in TCL4. An on-line path planning scheme is proposed which can effectively plan for feasible paths in real time with TCL-4 constraints. An end to end system is designed and tested in high fidelity Reflection architecture which demonstrates the feasibility of the approach.