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At least 19 records

Comparison of Exploration Portable Life Support Subsystem (xPLSS) Thermal Modeling to Thermal Vacuum Testing

To support NASA’s goal to return to the Moon through the Artemis mission, the development of an exploration portable life support system (xPLSS) has been conducted at Johnson Space Center (JSC). As part of this development process, a large system level thermal/fluid model of the xPLSS was developed using Thermal Desktop and an in-house human model (METMAN). The xPLSS model was used throughout the design process to predict the performance and temperature of nearly all components within the xPLSS. In the fall of 2023, the design, verification, and testing (DVT) unit of the xPLSS was tested in a thermal vacuum (TVAC) chamber at JSC. This testing consisted of combining the xPLSS with an upper torso of the exploration pressure garment system (xPGS) and simulating five extravehicular activities (EVAs) in extreme thermal conditions (two cold EVAs and three hot EVAs). The data generated in this test series provided system level data of the xPLSS operating in vacuum and at flight-like environmental temperatures for the first time. This data was compared to results output by the xPLSS system model to assess the accuracy of previous analyses and improve the fidelity and accuracy of the xPLSS system model. The comparison between model and test hardware provides valuable insight that will help improve the design and fidelity of next generation space suits. In general, comparison between test data and model data generally showed slightly un-conservative values (model predicting colder temperatures than test in hot environments, and hotter temperatures than test in cold environments). Model assumptions and test assumptions were assessed to understand potential causes of some of these sources in error. Recommendations to improve the fidelity of the xPLSS model were also made based on the results presented in this paper.

xPLSS↗

Comparison of Exploration Portable Life Support Subsystem (xPLSS) Thermal Modeling to Thermal Vacuum Testing

To support NASA’s goal to return to the Moon through the Artemis Mission, the development of an Exploration Portable Life Support Subsystem (xPLSS) has been conducted at Johnson Space Center (JSC). As part of this development process, a large system level thermal/fluid model of the xPLSS was developed using Thermal Desktop and an in-house human model (METMAN). The xPLSS model was used throughout the design process to predict the performance and temperature of nearly all components within the xPLSS. In the fall of 2023, the Design, Verification, and Testing (DVT) unit of the xPLSS was tested in a thermal vacuum (TVAC) chamber at JSC. This testing consisted of combining the xPLSS with an upper torso of the Exploration Pressure Garment System (xPGS) and simulating five Extravehicular Activities (EVAs) in extreme thermal conditions (two cold EVAs and three hot EVAs). The data generated in this test series provided system level data of the xPLSS operating in vacuum and at flight-like environmental temperatures for the first time. These data were compared to results output by the xPLSS system model to assess the accuracy of previous analyses and improve the fidelity and accuracy of the xPLSS system model. The comparison between model and test hardware provides valuable insight that will help improve the design and fidelity of next generation space suits. In general, comparison between test data and model data generally showed slightly un-conservative values (model predicting colder temperatures than test in hot environments, and hotter temperatures than test in cold environments). Model assumptions and test assumptions were assessed to understand potential causes of some of these sources in error. Recommendations to improve the fidelity of the xPLSS model were also made based on the results presented in this paper.

xPLSS↗

Ventilation Heat Exchanger / Flow Meter for xPLSS

The flow meter / heat exchanger (FMHX) in the ventilation loop of the exploration EMU cools the ventilation gas and measures the ventilation flow rate. The heat exchanger transfers heat from the ventilation gas to the thermal control loop via a miniature shell-and-tube heat exchanger. The flow meters calculate the flow rate of gas through the ventilation loop based on the pressure drop across the heat exchanger core. Creare has delivered four design validation test (DVT) heat exchangers and five DVT flow meters to NASA JSC to support development of the exploration portable life support system (xPLSS). This paper describes the design and performance of the DVT units.The heat exchangers are designed to cool the ventilation gas to a specified temperature with low pressure losses under the most challenging operating conditions. The measured performance of the DVT heat exchangers agrees well with design models and meets all performance requirements. The flow meters use a MEMS thermal flow sensor to produce a signal that is proportional to a small bypass flow around the heat exchanger core. They are designed to achieve high measurement accuracy across the full range of xPLSS operating conditions. We calibrated the flow meters in a special-purpose flow facility that simulates operation in the xPLSS ventilation loop. Calibration testing shows that DVT flow meters produce digital output for vent loop mass flow that meets NASA’s accuracy requirements across the range of xPLSS operating conditions. This paper reviews the design of the heat exchangers and flow meters and presents data from the final flow meter calibration testing, heat exchanger performance validation, and initial ground testing in NASA’s xPLSS.

spacesuit↗

Ventilation Heat Exchanger / Flow Meter for xPLSS

The flow meter / heat exchanger (FMHX) in the ventilation loop of the exploration EMU cools the ventilation gas and measures the ventilation flow rate. The heat exchanger transfers heat from the ventilation gas to the thermal control loop via a miniature shell-and-tube heat exchanger. The flow meters calculate the flow rate of gas through the ventilation loop based on the pressure drop across the heat exchanger core. Creare has delivered four design validation test (DVT) heat exchangers and five DVT flow meters to NASA JSC to support development of the exploration portable life support system (xPLSS). This paper describes the design and performance of the DVT units.The heat exchangers are designed to cool the ventilation gas to a specified temperature with low pressure losses under the most challenging operating conditions. The measured performance of the DVT heat exchangers agrees well with design models and meets all performance requirements. The flow meters use a MEMS thermal flow sensor to produce a signal that is proportional to a small bypass flow around the heat exchanger core. They are designed to achieve high measurement accuracy across the full range of xPLSS operating conditions. We calibrated the flow meters in a special-purpose flow facility that simulates operation in the xPLSS ventilation loop. Calibration testing shows that DVT flow meters produce digital output for vent loop mass flow that meets NASA’s accuracy requirements across the range of xPLSS operating conditions. This paper reviews the design of the heat exchangers and flow meters and presents data from the final flow meter calibration testing, heat exchanger performance validation, and initial ground testing in NASA’s xPLSS.

spacesuit↗

xPLSS Structural Backplate Design, Manufacture, and Test Overview

NASA Johnson Space Center (JSC) has been developing and building a new detailed design of the Exploration Extravehicular Mobility Unit (xEMU) space suit to support future International Space Station (ISS) and Lunar Artemis missions. The Exploration Portable Life Support System (xPLSS) of the xEMU contains some clever new technologies to meet the requirements to provide Extra Vehicular Activity (EVA) capability on the ISS and the Moon. The suit must interface with and fit through ports and airlocks of at least three vehicles: ISS, Human Landing System (HLS), and Gateway. The first partial xPLSS experimental flight unit called SWME EXPRESS Rack Flight Experiment (SERFE) that was a rack-deployed thermal control system payload on the ISS for two years (2020-2022). The first complete assembly of the xEMU was built as a Design Verification Test (DVT) unit (2022); similar to but more extensive than an Engineering Development Unit (EDU). The xPLSS Backplate serves not only as the structural backbone of the xPLSS and SERFE systems but also contains innovative design features to reduce the: mass, complexity, parts count, number ofseals (and therefore leak potential), and outer dimensions of the entire assembly. This paper provides an overview of these new design features, manufacturing processes, system interfaces, and SERFE/DVT test results of the Backplate as part of the xPLSS/xEMU.

xPLSS↗

xPLSS Structural Backplate Design, Manufacture, and Test Overview

NASA Johnson Space Center (JSC) has been developing and building a new detailed design of the Exploration Extravehicular Mobility Unit (xEMU) space suit to support future International Space Station (ISS) and Lunar Artemis missions. The Exploration Portable Life Support System (xPLSS) of the xEMU contains some clever new technologies to meet the requirements to provide Extra Vehicular Activity (EVA) capability on the ISS and the Moon. The suit must interface with and fit through ports and airlocks of at least three vehicles: ISS, Human Landing System (HLS), and Gateway. The first partial xPLSS experimental flight unit called SWME EXPRESS Rack Flight Experiment (SERFE) that was a rack-deployed thermal control system payload on the ISS for two years (2020-2022). The first complete assembly of the xEMU was built as a Design Verification Test (DVT) unit (2022); similar to but more extensive than an Engineering Development Unit (EDU). The xPLSS Backplate serves not only as the structural backbone of the xPLSS and SERFE systems but also contains innovative design features to reduce the: mass, complexity, parts count, number ofseals (and therefore leak potential), and outer dimensions of the entire assembly. This paper provides an overview of these new design features, manufacturing processes, system interfaces, and SERFE/DVT test results of the Backplate as part of the xPLSS/xEMU.

xPLSS↗

Development Requirements for the Exploration PLSS (xPLSS) Feedwater Supply Assembly (FSA)

The "Development Requirements for the Exploration PLSS (xPLSS) Feedwater Supply Assembly (FSA)" provides information regarding the current requirements for the Exploration Extravehicular Mobility Unit (xEMU). Specifically, the document provide an overview of expected features, capabilities, and requirements for safe integration of the components within the Portable Life Support System (PLSS) and the xEMU program.

Exploration PLSS (xPLSS)↗

Development Requirements for the Exploration PLSS (xPLSS) Carbon Dioxide and Humidity Control Unit (CDHCU)

Functional Requirements for the Carbon Dioxide and Humidity Control Unit (CDHCU): The CDHCU is a component of the Exploration Portable Life Support System (xPLSS) to provide carbon dioxide (CO2) and humidity control within the spacesuit for a crewmember to perform extravehicular activities (EVA) in vacuum (micro-g), lunar, and Mars environments for up to 8 hours continuous, and during EVA preparation in airlocks or support vehicles for an additional 2 hours (TBR) continuous.

Chullen, Cinda↗

Development Requirements for the Exploration PLSS (xPLSS) Thermal Loop Filter

The fluid thermal control loop and auxiliary thermal control loop contain multiple filters including the Thermal Filters (F-448/F-548), which are used to scrub precipitates and biofilms from the cooling loops in order to protect components that may be sensitive to such contamination. The F-448/F-548 filters are comprised of multiple machined piece parts to create the filter housing as well as the removable pressure cap assembly to allow for the thermal filter cartridge replacement.

Kristina Noelle Todd↗

Trace Contaminant Control Test Bed for Evaluation of TCC Prototypes with Vacuum Regenerable and Non-Regenerable Sorbents

A new Space Suit Exploration Portable Life Support System (xPLSS) is being designed, built, integrated, and tested into the Extra-Vehicular Mobility Unit (xEMU). The Trace Contaminant Control (TCC) system is a component in the oxygen ventilation loop of xPLSS that removes contaminants generated by the crewmembers’ metabolic processes. The primary trace contaminants that must be removed include ammonia (NH3), carbon monoxide (CO), formaldehyde (CH2O), and methyl mercaptan (CH3SH). The current state-of-the-art TCC sorbent is non-regenerable activated carbon. As a non-regenerable sorbent, its use negatively impacts the logistics for future missions. Thus, an ideal solution can be a vacuum-regenerable sorbent integrated with the xPLSS CO2/H2O removal system. To test new designs and sorbents, XploSafe has constructed a recirculating test bed that mimics the environment within the xPLSS by providing concentrations of the trace contaminant analytes generated at the operating temperature, humidity, pressure, and flow rates of the xPLSS. This system can perform regeneration or desorption by exposing the sorbent to a pressure swing from 4.3 psia to <1 torr over approximately 2 minutes. Using this test system, XploSafe evaluated various TCC prototypes constructed using rapid prototyping techniques and identified a process that allows vacuum regenerative TCC designs to be quickly examined for flow, pressure drop, and performance. By using toluene as a segregate for volatile organics, this test system was evaluated using both vacuum regenerable and non-regenerable sorbents to demonstrate the operational effectiveness of these sorbents in maintaining the concentrations of the trace contaminant analytes below the 7-day Spacecraft Maximum Allowable Concentrations.

Nicholas Materer↗

Micrometeoroid and Orbital Debris (MMOD) Testing, Ballistic Limit Definition and Risk Assessment of the Exploration Extravehicular Mobility Unit (xEMU)

A well-known hazard associated with exposure to the space environment is the risk of failure due to an impact from a micrometeoroid and orbital debris (MMOD) particle. As NASA prepares to return astronauts to the moon with the Artemis program, the next generation of spacesuit is in development to support future extravehicular activities (EVAs.) An MMOD impact to the spacesuit is of great concern as a large leak could prevent an astronaut from safely reaching an airlock in time resulting in a loss of life. The exploration extravehicular mobility unit (xEMU) must meet MMOD requirements for multiple environments including those in low earth orbit (LEO) as well as the meteoroid and secondary lunar regolith ejecta environments found on the lunar surface. The subject of this paper is an internal xEMU configuration design developed by NASA Johnson Space Center (JSC) personnel. The xEMU shares similarities with the legacy Extravehicular Mobility Unit (EMU) spacesuit that is currently used for ISS EVAs, however differences in the layup (e.g., materials, thicknesses, and layers) of the fabric environmental protection garment (EPG), portable life support system (xPLSS) and helmet required an extensive test program to determine ballistic performance. Over 100 hypervelocity impact (HVI) tests were performed by the NASA/JSC HVIT and White Sands Test Facility (WSTF) teams on the xEMU EPG, xPLSS and helmet to generate ballistic limit equations (BLEs) for MMOD impacts. Additionally, over 50 low speed tests (< 1km/s) were performed by the NASA/JSC HVIT and Southwest Research Institute (SwRI) teams on the xEMU EPG, xPLSS and helmet to generate BLEs for lunar ejecta impacts. Post testing, ballistic limit equations (BLEs) used to define the performance of the various regions on the xEMU spacesuit were developed from a generic set of BLEs. The HVI and low speed testing was performed to establish a physical basis for the equations with the coefficients and exponents of the generic BLEs adjusted to fit the test data. The xEMU BLEs were added to the NASA/JSC software application used for spacecraft MMOD risk assessments (BUMPER-3). A finite element model (FEM) of the xEMU spacesuit, which defines the size and shape of the spacesuit as well as the locations of the various shielding configurations, was created based on a solid model provided by the xEMU program office. Using the FEM file and added xEMU BLEs, BUMPER-3 assessments of the xEMU spacesuit for probability of no penetration (PNP) were performed. For the LEO assessment of a typical ISS EVA, the orbital debris and meteoroids environments were defined using the latest engineering models, ORDEM 3.2 and MEM-3 respectively. The lunar surface assessment again used the MEM-3 engineering model to define the meteoroid environment along with the current released lunar surface ejecta model, NASA SP-8013 (developed during the Apollo Program). The Space Team in the Natural Environments Branch at Marshall Space Flight Center (MSFC) will soon release the new Lunar Meteoroid Ejecta Engineering Model (LMEEM), at which time the xEMU lunar surface EVA will be reassessed. Assessment of the MMOD risk for an 8-hour, 2-person EVA in both LEO and on the lunar surface showed that the xEMU spacesuit meets the program technical requirement of 1 in 2500 failure odds. Similar to the legacy EMU spacesuit, the majority of the MMOD risk (96% of the LEO EVA risk and 99% of the lunar surface EVA risk) is concentrated in regions of xEMU that are comprised primarily of softgoods (arms, legs, and gloves) rather than the hardgoods (xPLSS, hard upper torso and helmet).

Micrometeoroid↗

Micrometeoroid and Orbital Debris (MMOD) Testing, Ballistic Limit Equation Definition and Risk Assessment of the Exploration Extravehicular Mobility Unit (xEMU)

A well-known hazard associated with exposure to the space environment is the risk of failure due to an impact from a micrometeoroid and orbital debris (MMOD) particle. As NASA prepares to return astronauts to the moon with the Artemis program, the next generation of spacesuit is in development to support future extravehicular activities (EVAs.) An MMOD impact to the spacesuit is of great concern as a large leak could prevent an astronaut from safely reaching an airlock in time resulting in a loss of life. The exploration extravehicular mobility unit (xEMU) must meet MMOD requirements for multiple environments including those in low earth orbit (LEO) as well as the meteoroid and secondary lunar regolith ejecta environments found on the lunar surface. The subject of this paper is an internal xEMU configuration design developed by NASA Johnson Space Center (JSC) personnel. This paper will expand on the hypervelocity impact (HVI) testing and ballistic limit equation (BLE) definition work that was partially presented at the 2nd International Orbital De-bris (IOC-II) Conference held in Sugar Land, TX in December 2023. The xEMU shares similarities with the legacy Extravehicular Mobility Unit (EMU) spacesuit that is currently used for ISS EVAs, however differences in the layup (e.g., materials, thicknesses, and layers) of the fabric environmental protection garment (EPG), portable life support system (xPLSS) and helmet required an extensive test program to determine ballistic performance. Over 100 hypervelocity impact (HVI) tests were performed by the NASA/JSC HVIT and White Sands Test Facility (WSTF) teams on the xEMU EPG, xPLSS and helmet to generate ballistic limit equations (BLEs) for MMOD impacts. Additionally, over 50 low speed tests (< 1km/s) were performed by the NASA/JSC HVIT and Southwest Research Institute (SwRI) teams on the xEMU EPG, xPLSS and helmet to generate BLEs for lunar ejecta impacts. Post testing, ballistic limit equations used to define the performance of the various regions on the xEMU spacesuit were developed from a generic set of BLEs. The HVI and low speed testing was performed to establish a physical basis for the equations with the co-efficients and exponents of the generic BLEs adjusted to fit the test data. The xEMU BLEs were added to the NASA/JSC software application used for space-craft MMOD risk assessments (BUMPER-3). A finite element model (FEM) of the xEMU spacesuit, which defines the size and shape of the spacesuit as well as the locations of the various shielding configurations, was created based on a solid model provided by the xEMU program office. Using the FEM file and added xEMU BLEs, BUMPER-3 assessments of the xEMU spacesuit for probability of no penetration (PNP) were performed. For the LEO assessment of a typical ISS EVA, the orbital debris and meteoroids environments were defined using the latest engineering models, ORDEM 3.2 and MEM-3 respectively. The lunar sur-face assessment again used the MEM-3 engineering model to define the meteoroid environ-ment along with the current released lunar surface ejecta model, NASA SP-8013 (developed during the Apollo Program). The Space Team in the Natural Environments Branch at Mar-shall Space Flight Center (MSFC) will soon release the new Lunar Meteoroid Ejecta Engineering Model (LMEEM), at which time the xEMU lunar surface EVA will be reassessed. Assessment of the MMOD risk for an 8-hour, 2-person EVA in both LEO and on the lunar surface showed that the xEMU spacesuit meets the program technical requirement of 1 in 2500 failure odds. Similar to the legacy EMU spacesuit, the majority of the MMOD risk (96% of the LEO EVA risk and 99% of the lunar surface EVA risk) is concentrated in regions of xEMU that are comprised primarily of softgoods (arms, legs, and gloves) rather than the hardgoods (xPLSS, hard upper torso and helmet).

Micrometeoroid↗

Exploration Portable Life Support System Hatch Component Design

The design for the Exploration Extravehicular Mobility Unit (xEMU) is continuously being developed and many previous gaps in technologies have begun initial development. Various Exploration Portable Life Support System (xPLSS) Hatch components had been at a stall in technology development for many years including the Feedwater Supply Assembly, Trace Contaminant Control System, and the thermal loop filters. The challenging requirements and initial design of these components were previously discussed in “Exploration Portable Life Support System Hatch Component Design Challenges and Progress”. NASA has plans to go back to the Moon. The development of each of these components is relevant not only to the xEMU, but also to the International Space Station, Gateway, and commercial space businesses. As the xPLSS is being designed, built, integrated, and tested at the NASA Johnson Space Center, technology solutions will have a direct incorporation path as the xPLSS is matured to meet design and performance goals. This is a follow on paper to discuss the initial implementation of the hatch component designs, changes due to existing challenges, and performance results of these components as the xEMU project completes the first phase of towards flight, known as Design Verification Test (DVT).

Kristina Todd↗

Short Exploration Extravehicular Mobility Unit Testing Setup: Evaluation Under Realistic Pressure and Thermal Conditions

The purpose of Short Exploration Extravehicular Mobility Unit (SxEMU) thermal vacuum testing was to verify the functionality of the Design Verification Testing (DVT) prototype xEMU (SxEMU for this test) at vacuum pressures and extreme space and lunar surface temperature conditions. The SxEMU Thermal Vacuum Test was the culmination of the DVT xEMU project. This paper’s focus is on the pre-Extravehicular Activity (EVA) test setup, and general performance of the SxEMU Portable Life Support Subsystem (xPLSS), with focus on the performance of the Primary Oxygen Assembly (POA) and Secondary Oxygen Assembly (SOA), including Secondary Oxygen Regulator (SOR) takeover and the POA and SOA low-setpoint change inhibit. The initial pre-EVA test preparation included recharging the batteries and replenishing consumables, including test-system water, oxygen assemblies (with gaseous nitrogen), and the integrated thermal loops, including the Feedwater Supply Assemblies. xPLSS functionality testing included carbon dioxide (CO2) removal via the Rapid Cycle Amine swingbed system, thermal loop temperature control, and monitoring of suit ventilation loop pressure, temperature, and CO2 percentages. Testing evaluated automatic takeover of suit pressure control by the SOR after the primary oxygen supply is depleted. The Primary Oxygen Regulator and SOR low-setpoint change inhibit function prevents the crewmember from inadvertently setting the primary regulator to a low pressure setpoint during an EVA.

xPLSS↗

Exploration Extravehicular Mobility Unit (xEMU) 11 Foot Vacuum Chamber Upgrades Test Results

The Exploration Extravehicular Mobility Unit (xEMU) uncrewed 11 foot vacuum chamber testing evaluated the capabilities of the 11 foot vacuum chamber facility to support advanced spacesuit testing. The government reference design xEMU spacesuit provided a high-fidelity test article to demonstrate 11 foot vacuum chamber capabilities which included: gas loading of the chamber at varying simulated metabolic rates and open loop suit abort operations, Intravehicular Activity (IVA) vacuum access, consumables recharge, IVA vehicle-provided thermal loop cooling, and IVA vehicle-provided power. To demonstrate the xEMU airlock operations transitioning from IVA to EVA conditions without a test subject in the suit, test support equipment was developed to remotely actuate both the Exploration, Servicing, and Cooling Umbilical (ESCU) and the vacuum access umbilical. This test also evaluated the performance of the Exploration Portable Life Support System (xPLSS) at vacuum conditions. Data was collected and analyzed for carbon dioxide (CO2) scrubbing performance of the Rapid Cycle Amine (RCA) swingbed, for thermal regulation performance of the Suit Water Membrane Evaporator (SWME), and for sensor performance across the xPLSS. This paper will detail the findings of the testing performed with these upgrades which discussed previously laid out in ICES-2025-342.

Robert F Marsch↗

Exploration Extravehicular Mobility Unit 11 Foot Vacuum Chamber Upgrades Test Results

The Exploration Extravehicular Mobility Unit (xEMU) uncrewed 11 foot vacuum chamber testing evaluated the capabilities of the 11 foot vacuum chamber facility to support advanced spacesuit testing. The government reference design xEMU spacesuit provided a high-fidelity test article to demonstrate 11 foot vacuum chamber capabilities which included: gas loading of the chamber at varying simulated metabolic rates and open loop suit abort operations, Intravehicular Activity (IVA) vacuum access, consumables recharge, IVA vehicle-provided thermal loop cooling, and IVA vehicle-provided power. To demonstrate the xEMU airlock operations transitioning from IVA to EVA conditions without a test subject in the suit, test support equipment was developed to remotely actuate both the Exploration, Servicing, and Cooling Umbilical (ESCU) and the vacuum access umbilical. This test also evaluated the performance of the Exploration Portable Life Support System (xPLSS) at vacuum conditions. Data was collected and analyzed for carbon dioxide (CO2) scrubbing performance of the Rapid Cycle Amine (RCA) swingbed, for thermal regulation performance of the Suit Water Membrane Evaporator (SWME), and for sensor performance across the xPLSS. This paper will detail the findings of the testing performed with these upgrades which discussed previously laid out in ICES-2025-342.

Robert Marsch↗

Oxygen Compatibility and Challenge Testing of the PLSS Variable Oxygen Regulator (VOR) for the Advanced EMU

The Variable Oxygen Regulator (VOR), a stepper actuated two-stage mechanical regulator, is being developed for the purpose of serving as the Primary Oxygen Regulator (POR) and Secondary Oxygen Regulator (SOR) within the Advanced EMU PLSS, now referred to as the xEMU and xPLSS. Three prototype designs have been fabricated and tested as part of this development. Building upon the lessons learned from the 35 years of Shuttle/ISS EMU Program operation including the fleet-wide EMU Secondary Oxygen Pack (SOP) contamination failure that occurred in 2000, the VOR is being analyzed, designed, and tested for oxygen compatibility with controlled Non-Volatile Residue (NVR) and a representative worst-case hydro-carbon system contamination event (>100mg/sq ft dodecane). This paper discusses the steps taken in testing of VOR 2.0 with for oxygen compatibility and then discusses follow-on design changes implemented in the VOR 3.0 (3rd prototype) as a result.

Campbell, Colin↗