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The growing prevalence of inverter-based resources (IBRs) for renewable energy integration and electrification greatly challenges power system dynamic analysis. To account for both synchronous generators (SGs) and IBRs, this work presents an approach for learning the model of an individual dynamic component. The recurrent neural network (RNN) model is used to match the recursive structure in predicting the key dynamical states of a component from its terminal bus voltage and set-point input. To deal with the fast transients especially due to IBRs, we develop a Stable Integral (SI-)RNN to mimic high-order integral methods that can enhance the stability and accuracy for the dynamic learning task. We demonstrate that the proposed SI-RNN model not only can successfully predict the component's dynamic behaviors, but also offers the possibility of efficiently computing the dynamic sensitivity relative to a set-point change. These capabilities have been numerically validated based on full-order Electromagnetic Transient (EMT) simulations on a small test system with both SGs and IBRs, particularly for predicting the dynamics of grid-forming inverters.

Inverter-based resources (IBR) have been widely studied for their advantages on the current power systems. This increase in the penetration of renewable energy has raised some concerns about the stability of the existing grid. Historically, power systems are dominated by synchronous generators that can easily react to system instability due to high inertia and damping characteristics. However, with IBR, the control of the inverter plays a crucial role in contributing to the system stability and enhancing the functionality of the inverters. One of these novel control methods is droop control. Droop characteristics are used to control voltage, frequency, and active and reactive power. This paper presents the impact of frequency droop damping on system frequency, real power, and the rate of change of frequency with distributed energy resources. Also, battery sizing is suggested based on the results. The results also show the need for optimal selection for the frequency droop damping to fulfill the appropriate battery size in terms of cost and performance. The simulations are carried out in an electromagnetic transient program (EMTP), Comment: Droop control, Damping coefficient, Battery Sizing, Rate of Change of Frequency

In this work, we provide a global framework analysis of a multi-hop relaying systems wherein the transmitter (TX) communicates with the receiver (RX) through a set of intermediary relays deployed either in series or in parallel. Regenerative based relaying scheme is assumed such as the repetition-coded decoded-and-forward (DF) wherein the decoding is threshold-based. To reflect a wide range of fading, we introduce the generalized $H$-function (also termed as Fox-$H$ function) distribution model which enables the modeling of radio-frequency (RF) fading like Weibull and Gamma, as well as the free-space optic (FSO) such as the Double Generalized Gamma and M\'alaga fading. In this context, we introduce various power and rate adaptation policies based on the channel state information (CSI) availability at TX and RX. Finally, we address the effects of relaying topology, number of relays and fading model, etc, on the performance reliability of each link adaptation policy.

This paper outlines reduced-order models for grid-forming virtual-oscillator-controlled inverters with nested current- and voltage-control loops, and current-limiting action for over-current protection. While a variety of model-reduction methods have been proposed to tame complexity in inverter models, previous efforts have not included the impact of current-reference limiting. In addition to acknowledging the current-limiting action, the reduced-order models we outline are tailored to networks with resistive and inductive interconnecting lines. Our analytical approach is centered on a smooth function approximation for the current-reference limiter, participation factor analysis to identify slow- and fast-varying states, and singular perturbation to systematically eliminate the fast states. Computational benefits and accuracy of the reduced-order models are benchmarked via numerical simulations that compare them to higher-order averaged and switched models.

In this work, we consider the performance analysis of the uplink cellular networks with free space optics (FSO) backhauling. The user equipment (UE) communicates with the nearest Base Station (BS) in first slot while in second slot, the BS converts the received radio frequency (RF) signal into FSO pulse and transmits to the data center. We adopt the Rayleigh fading for the uplink channels while the FSO backhaul encompasses the turbulence-induced fading which follows the M\'alaga distribution, the weather pathloss, and the pointing errors fading which is distributed following the generalized Beckmann model. Further, we will compare the performances when the BS behaves as either a decode-and-forward (DF) relay or an intelligent reflecting surface (IRS). Next, we will propose an optimal design of the phase shifters of the IRS to minimize the interference and improve the rate to beat relaying. Capitalizing on this framework, we will derive the system performance metrics such as the coverage probability as well as the spectral efficiency. Focusing on high SNR, we will obtain the diversity gain to get engineering insights into the system performance and limitations. Finally, the analytical results are confirmed by Monte Carlo simulations.

In this work, we provide a framework analysis of dual-hop hybrid Millimeter Wave Radio Frequency (RF)/Free Space Optical (FSO) MIMO relaying system. The source is equipped with multiple antennas and employs conjugate beamforming while the destination consists of multiple apertures with selection combining. The system also consists of a relay operating at amplify-and-forward mode. The RF channels are subject to Nakagami-m fading while the optical links experience the M\'alaga distribution. In addition, we introduce the impairments to the relay and receiver. In fact, the relay is impaired by the High Power Amplifier (HPA) nonlinearities while the receiver suffers from the In phase and Quadrature Imbalance. Moreover, we assume two types of HPA nonlinearities impairments called Soft Envelope Limiter (SEL) and Traveling Wave Tube Amplifier (TWTA). Closed-forms of the outage probability, the bit error probability, and the ergodic capacity are derived. Capitalizing on these performances, we derive the high SNR asymptotes to unpack insightful metrics such as the diversity gain. We also address the impacts of some key factors on the system performance such as the impairments, the interferers, the number of antennas and apertures and the pointing errors, etc. Finally, the analytical expressions are confirmed by Monte Carlo simulation.

In this work, we present a framework analysis of millimeter waves (mmWaves) vehicular communications systems. Communications between vehicles take place through a cooperative relay which acts as an intermediary base station (BS). The relay is equipped with multiple transmit and receive antennas and it employs decode-and-forward (DF) to process the signal. Also, the relay applies maximal ratio combining (MRC), and maximal ratio transmission (MRT), respectively, to receive and forward the signal. As the vehicles' speeds are relatively high, the channel experiences a fast fading and this time variation is modeled following the Jakes' autocorrelation model. We also assume narrowband fading channel. Closed-form expressions of the reliability metrics such as the outage probability, the probability of error and the channel capacity are derived. Capitalizing on these performances, we derive the low and high power regimes for the capacity, and the high signal-to-interference-plus-noise-ratio (SINR) asymptotes for the outage and error probability to get full insights into the system gains such as the diversity and coding gains.

Soft robotics is a field of robotic system design characterized by materials and structures that exhibit large-scale deformation, high compliance, and rich multifunctionality. The incorporation of soft and deformable structures endows soft robotic systems with the compliance and resiliency that makes them well-adapted for unstructured and dynamic environments. While actuation mechanisms for soft robots vary widely, soft electrostatic transducers such as dielectric elastomer actuators (DEAs) and hydraulically amplified self-healing electrostatic (HASEL) actuators have demonstrated promise due to their muscle-like performance and capacitive self-sensing capabilities. Despite previous efforts to implement self-sensing in electrostatic transducers by overlaying sinusoidal low-voltage signals, these designs still require sensing high-voltage signals, requiring bulky components that prevent integration with miniature, untethered soft robots. We present a circuit design that eliminates the need for any high-voltage sensing components, thereby facilitating the design of simple, low cost circuits using off-the-shelf components. Using this circuit, we perform simultaneous sensing and actuation for a range of electrostatic transducers including circular DEAs and HASEL actuators and demonstrate accurate estimated displacements with errors under 4%. We further develop this circuit into a compact and portable system that couples HV actuation, sensing, and computation as a prototype towards untethered, multifunctional soft robotic systems. Finally, we demonstrate the capabilities of our self-sensing design through feedback-control of a robotic arm powered by Peano-HASEL actuators., Comment: 35 pages, 7 main figures, 7 supplementary figures, 3 supplementary videos, accepted to Soft Robotics 2020

The traditional focus of physiological and functional genomic research is on molecular processes that play out within a single body. In contrast, when social interactions occur, molecular and behavioral responses in interacting individuals can lead to physiological processes that are distributed across multiple individuals. In eusocial insect colonies, such multi-body processes are tightly integrated, involving social communication mechanisms that regulate the physiology of colony members. As a result, conserved physiological mechanisms, for example related to pheromone detection and neural signaling pathways, are deployed in novel contexts and regulate emergent colony traits during the evolutionary origin and elaboration of social complexity. Here we review conceptual frameworks for organismal and colony physiology, and highlight functional genomic, physiological, and behavioral research exploring how colony-level traits arise from physical and chemical interactions among nestmates. We highlight mechanistic work exploring how colony traits arise from physical and chemical interactions among physiologically-specialized nestmates of various developmental stages. We consider similarities and differences between organismal and colony physiology, and make specific predictions based on a decentralized perspective on the function and evolution of colony traits. Integrated models of colony physiological function will be useful to address fundamental questions related to the evolution and ecology of collective behavior in natural systems., Comment: 32 pages, 1 Figure

In this work, we investigate the performance of a millimeter waves (mmWaves) cellular system with free space optical (FSO) backhauling. MmWave channels are subject to Nakagami-m fading while the optical links experience the Double Generalized Gamma including atmospheric turbulence, path loss and the misalignment between the transmitter and the receiver aperture (also known as the pointing errors). The FSO model also takes into account the receiver detection technique which could be either heterodyne or intensity modulation and direct detection (IM/DD). Each user equipment (UE) has to be associated to one serving base station (BS) based on the received signal strength (RSS) or Channel State Information (CSI). We assume partial relay selection (PRS) with CSI based on mmWaves channels to select the BS associated with the highest received CSI. Each serving BS decodes the received signal for denoising, converts it into modulated FSO signal, and then forwards it to the data center. Thereby, each BS can be viewed as a decode-and-forward (DF) relay. In practice, the relay hardware suffers from nonlinear high power amplification (HPA) impairments which, substantially degrade the system performance. In this work, we will discuss the impacts of three common HPA impairments named respectively, soft envelope limiter (SEL), traveling wave tube amplifier (TWTA), and solid state power amplifier (SSPA). Novel closed-forms and tight upper bounds of the outage probability, the probability of error, and the achievable rate are derived. Capitalizing on these performance, we derive the high SNR asymptotes to get engineering insights into the system gain such as the diversity order., Comment: arXiv admin note: substantial text overlap with arXiv:1901.04249

This paper examines small-signal stability of electrical networks composed dominantly of three-phase grid-following inverters. We show that the mere existence of a high-voltage power flow solution does not necessarily imply small-signal stability; this motivates us to develop a framework for stability analysis that systematically acknowledges inverter dynamics. We identify a suitable time-scale decomposition for the inverter dynamics, and using singular perturbation theory, obtain an analytic sufficient condition to verify small-signal stability. Compared to the alternative of performing an eigenvalue analysis of the full-order network dynamics, our analytic sufficient condition reduces computational complexity and yields insights on the role of network topology and constitution as well as inverter-filter and control parameters on small-signal stability. Numerical simulations for a radial network validate the approach and illustrate the efficiency of our analytic conditions for designing and monitoring grid-tied inverter networks.

This paper presents a global framework analysis of a microstrip antenna design circularly polarized with an operating frequency of 5.80 GHz and a bandwidth of at least 500 MHz. We evaluate the optimal antenna parameters to design requirements. Capitalizing on these parameters, we simulate the radiation model of this antenna using the Finite Difference Time Domain (FDTD) technique assuming one, two, and three dimensions. The propagation medium is assumed to be a free space bounded by absorbing boundaries, and perfect matched layer (PML). The FDTD-1D is considered in free space while FDTD-2D and 3D are considered both in free space and in a free space-medium containing either dielectric sphere or cylinder in the center. In this case, we model the incident and the scattered electromagnetic fields reflected back from hitting the dielectric object. Moreover, the microstrip antenna radiates an electromagnetic pulse either in the middle or at one end of the medium and the sources considered are Gaussian pulse and plane wave. Finally, we provide the analytic solutions of the propagation models to confirm the accuracy of the FDTD simulation technique.

In this work, we investigate the performance of a dual-hop multiple relays system consisting of mixed Radio-Frequency (RF)/Free Space Optical (FSO) channels. The RF channels are subject to Rayleigh fading while the optical links experience the Double Generalized Gamma including atmospheric turbulence, path loss and the misalignment between the transmitter and the receiver aperture (also known as the pointing error). The FSO model also takes into account the receiver detection technique which could be either heterodyne or intensity modulation and direct detection. Partial Relay Selection with outdated Channel State Information is assumed based on the RF channels to select a relay and we also consider fixed and variable Amplify-and-Forward relaying schemes. In addition, we assume that the relays are affected by the high power amplifier non-linearities and herein we discuss two power amplifiers called Soft Envelope Limiter and Traveling Wave Tube Amplifier. Furthermore, novel closed-forms and tight upper bounds of the outage probability, the bit error probability, and the ergodic capacity are derived. Capitalizing on these performance, we derive the high SNR asymptotic to get engineering insights about the system gains such as the diversity and the coding gains. Finally, the mathematical expressions are validated using the Monte Carlo simulation.

This paper presents an analysis and experimental validation of dispatchable virtual oscillator control (dVOC) for inverter-dominated power systems. dVOC is a promising decentralized control strategy that requires only local measurements to induce grid-forming behavior with programmable droop characteristics. It is dispatchable i.e., the inverters can vary their power generation via user-defined power set-points and guarantees strong stability. To verify its feasibility, a testbed comprising multiple dVOC-programmed inverters with transmission line impedances is designed. With an embedded synchronization strategy, the dVOC inverters are capable of dynamic synchronization, black start operation, and transient grid voltage regulation with dynamic load sharing, and real-time-programmable droop characteristics for backward compatibility. All these features are experimentally verified.

Image inpaiting is an important task in image processing and vision. In this paper, we develop a general method for patch-based image inpainting by synthesizing new textures from existing one. A novel framework is introduced to find several optimal candidate patches and generate a new texture patch in the process. We form it as an optimization problem that identifies the potential patches for synthesis from an coarse-to-fine manner. We use the texture descriptor as a clue in searching for matching patches from the known region. To ensure the structure faithful to the original image, a geometric constraint metric is formally defined that is applied directly to the patch synthesis procedure. We extensively conducted our experiments on a wide range of testing images on various scenarios and contents by arbitrarily specifying the target the regions for inference followed by using existing evaluation metrics to verify its texture coherency and structural consistency. Our results demonstrate the high accuracy and desirable output that can be potentially used for numerous applications: object removal, background subtraction, and image retrieval., Comment: in Computer Science and Applications, 2016

This paper examines the dynamics of power-electronic inverters in islanded microgrids that are controlled to emulate the dynamics of Van der Pol oscillators. The general strategy of controlling inverters to emulate the behavior of nonlinear oscillators presents a compelling time-domain alternative to ubiquitous droop control methods which presume the existence of a quasi-stationary sinusoidal steady state and operate on phasor quantities. We present two main results in this work. First, by leveraging the method of periodic averaging, we demonstrate that droop laws are intrinsically embedded within a slower time scale in the nonlinear dynamics of Van der Pol oscillators. Second, we establish the global convergence of amplitude and phase dynamics in a resistive network interconnecting inverters controlled as Van der Pol oscillators. Furthermore, under a set of non-restrictive decoupling approximations, we derive sufficient conditions for local exponential stability of desirable equilibria of the linearized amplitude and phase dynamics.

Efforts to ensure reliable operation of existing low-voltage distribution systems with high photovoltaic (PV) generation have focused on the possibility of inverters providing ancillary services such as active power curtailment and reactive power compensation. Major benefits include the possibility of averting overvoltages, which may otherwise be experienced when PV generation exceeds the demand. This paper deals with ancillary service procurement in the face of solar irradiance forecasting errors. In particular, assuming that the forecasted PV irradiance can be described by a random variable with known (empirical) distribution, the proposed uncertainty-aware optimal inverter dispatch (OID) framework indicates which inverters should provide ancillary services with a guaranteed a-priori risk level of PV generation surplus. To capture forecasting errors, and strike a balance between risk of overvoltages and (re)active power reserves, the concept of conditional value-at-risk is advocated. Due to AC power balance equations and binary inverter selection variables, the formulated OID involves the solution of a nonconvex mixed-integer nonlinear program. However, a computationally-affordable convex relaxation is derived by leveraging sparsity-promoting regularization approaches and semidefinite relaxation techniques. The proposed scheme is tested using real-world PV-generation and load-profile data for an illustrative low-voltage residential distribution system., Comment: To appear in the IEEE Journal of Photovoltaics in December 2014

Decentralized methods for computing optimal real and reactive power setpoints for residential photovoltaic (PV) inverters are developed in this paper. It is known that conventional PV inverter controllers, which are designed to extract maximum power at unity power factor, cannot address secondary performance objectives such as voltage regulation and network loss minimization. Optimal power flow techniques can be utilized to select which inverters will provide ancillary services, and to compute their optimal real and reactive power setpoints. Leveraging advances in semidefinite relaxation techniques and sparsity-promoting regularizations, such problems can be solved with reduced computational burden and with optimality guarantees. To enable large-scale implementation, a novel algorithmic framework is introduced - based on the so-called alternating direction method of multipliers - by which the optimal power flow problem in this setting can be systematically decomposed into sub-problems that can be solved in a decentralized fashion by the utility and customer-owned PV systems with limited exchanges of information. Since the computational burden is shared among multiple devices and the requirement of all-to-all communication can be circumvented, the proposed optimization approach scales to large distribution networks., Comment: Accepted for publication to IEEE Transactions on Energy Conversion

Sufficient conditions are derived for global asymptotic synchronization in a system of identical nonlinear electrical circuits coupled through linear time-invariant (LTI) electrical networks. In particular, the conditions we derive apply to settings where: i) the nonlinear circuits are composed of a parallel combination of passive LTI circuit elements and a nonlinear voltage-dependent current source with finite gain; and ii) a collection of these circuits are coupled through either uniform or homogeneous LTI electrical networks. Uniform electrical networks have identical per-unit-length impedances. Homogeneous electrical networks are characterized by having the same effective impedance between any two terminals with the others open circuited. Synchronization in these networks is guaranteed by ensuring the stability of an equivalent coordinate-transformed differential system that emphasizes signal differences. The applicability of the synchronization conditions to this broad class of networks follows from leveraging recent results on structural and spectral properties of Kron reduction---a model-reduction procedure that isolates the interactions of the nonlinear circuits in the network. The validity of the analytical results is demonstrated with simulations in networks of coupled Chua's circuits.

The time dependence of device performance has been measured for photocells using blends containing the conjugated polymer, poly[2-methoxy-5-(2-ethylhexyloxy)-1,4-phenylenevinylene] (MEH-PPV) with two different functionalized C60 electron acceptor molecules: commercially available [6,6]-phenyl C61 butyric acid methyl ester (PCBM) or [6,6]-phenyl C61 butyric acid octadecyl ester (PCBOD) produced in this laboratory. Performance was characterized by the short-circuit current output of the devices, with the time dependence of PCBM samples typically degrading exponentially. Variations in the characteristic lifetime of the devices were observed to depend on the molar fraction of the electron acceptor molecules (calculated with respect to the MEH-PPV monomer fraction). In comparison to the PCBM samples, the stability of the PCBOD blends was significantly enhanced, with a one or two order of magnitude improvement. Corresponding spectroscopic data with similar time evolution as the transport measurements suggests an independent means for determining and understanding degradation mechanisms., Comment: accepted for publication in Solar Energy Materials and Solar Cells

Large-scale practical applications of fullerene (C60) in nanodevices could be significantly facilitated if the commercially-available micrometer-scale raw C60 powder were further processed into a one-dimensional (1D) nanowire-related polymer displaying covalent bonding as molecular interlinks and resembling traditional important conjugated polymers. However, there has been little study thus far in this area despite the abundant literature on fullerene. Here we report the synthesis and characterization of such a C60-based nanowire polymer, (-C60TMB-)n, where TMB=1,2,4-trimethylbenzene, which displays a well-defined crystalline structure, exceptionally large length-to-width ratio and excellent thermal stability. The material is prepared by first growing the corresponding nanowire through a solution phase of C60 followed by a topochemical polymerization reaction in the solid state. Gas chromatography, mass spectrometry and 13C nuclear magnetic resonance evidence is provided for the nature of the covalent bonding mode adopted by the polymeric chains. Theoretical analysis based on detailed calculations of the reaction energetics and structural analysis provides an in-depth understanding of the polymerization pathway. The nanopolymer promises important applications in biological fields and in the development of optical, electrical, and magnetic nanodevices., Comment: 30 pages, 12 figures, 2 tables

The fullerene (C60) nanowires, which possess a highly unusual morphology featured by a prism-like central core and three nanobelt-like wings joined along the growth direction to give an overall Y-shaped cross section, have been studied. The experimental observation coupled with theoretical calculation have enabled us to elucidate both the role of the fullerene and of the solvent in the crystallization process, thus opening up an opportunity for the in-depth understanding of the crystal growth mechanism. More generally, the method developed in this work could be extended into understanding the growth of other inorganic nanowires that have both host and guest molecules involved in their crystal lattices., Comment: 25 pages, 9 figures

This study of the effectiveness of electronic blackboards in three introductory sociology classes at the University of Regina tested the hypothesis that this microcomputer-based presentational technology would have a negative impact on faculty productivity due to the increased amount of preparation time, and a positive impact on the quality of learning. Computer-prepared illustrated lectures were presented to two test classes, while a control class received the same material without the illustrations. Evaluation questionnaires using a five-point scale were administered prior to and after the experiment to all three classes. In addition, an in-class observer monitored all three classes, and all three were videotaped for review by a faculty panel. Follow-up interviews were conducted in both test classes. It was found that the electronic blackboard method was not successful because: (1) it took faculty five times longer to prepare an illustrated lecture than a normal one; (2) the electronic presentation interfered with normal patterns of classroom interaction; (3) students were dissatisfied with the electronic blackboard; (4) the electronic blackboard forced students to concentrate on two different sources of information simultaneously, resulting in a negation of any benefits gained by superior organization and visual imagery; and (5) rural and low income students may have been negatively affected. It is concluded that, given the current state of the technology, the electronic blackboard is not effective under the conditions tested. Copies of the study consent form and the pre-experiment, control group, and test group questionnaires are appended. (5 references) (DB)

The Extravehicular Activity (EVA) Framework for Exploration describes NASA's EVASystem Goals in the broader context of ongoing human spaceflight efforts. The purpose of thisdocument is to drive integration, coordination and communication of the EVA community'sexploration development plans as crafted to meet long-term EVA needs. Inclusive in the EVAcommunity are NASA partners in academia and industry. The 2019 EVA Framework outlinesthe office's current method to answer the following questions: What product does NASA useto compare, contrast and integrate across the elements of the EVA community's perceivedgaps, risks, and unfunded work, particularly for future systems intended for use beyond LowEarth Orbit (LEO)? What product does NASA use to proactively coordinate support acrossthe EVA community's wide spectrum of exploration development work? Where can one go toobtain awareness of ongoing efforts, particularly during consideration of new-start activitiesand proposals? These questions lead to the need for a product that speaks to the distributednature of the EVA System across human spaceflight programs, concept studies and flightvehicle architectural elements. This framework can be used and evaluated by the EVAcommunity to assess the full spectrum of needs and answer the question of "what are wemissing" or "are we doing things that just do not make sense". In the end is the EVAcommunity effectively pursuing the future needs of EVA? If answers to those questions revealthe need for change or re-prioritization then actions can be taken through existing projectcontrol processes as well as revision to this document and supporting project plans.

These slides are a Continuation of the development of the heavy-lift third generation mid-air retrieval capability.

Performance of Extra-Vehicular Activities (EVA) has been and will continue to be a critical capability for human space flight. Human exploration missions beyond LEO will require EVA capability for either contingency or nominal activities to support mission objectives and reduce mission risk. EVA systems encompass a wide array of products across pressure suits, life support systems, EVA tools and unique spacecraft interface hardware (i.e. EVA Translation Paths and EVA Worksites). In a fiscally limited environment with evolving transportation and habitation options, it is paramount that the EVA community's strategic planning and architecture integration products be reviewed and vetted for traceability between the mission needs far into the future to the known technology and knowledge gaps to the current investments across EVA systems. To ascertain EVA technology and knowledge gaps many things need to be brought together, assessed and analyzed. This includes an understanding of the destination environments, various mission concept of operations, current state of the art of EVA systems, EVA operational lessons learned, and reference advanced capabilities. A combined assessment of these inputs should result in well-defined list of gaps. This list can then be prioritized depending on the mission need dates and time scale of the technology or knowledge gap closure plan. This paper will summarize the current state of EVA related technology and knowledge gaps derived from NASA's Exploration EVA Reference Architecture and Operations Concept products. By linking these products and articulating NASA's approach to strategic development for EVA across all credible destinations an EVA could be done in, the identification of these gaps is then used to illustrate the tactical and strategic planning for the EVA technology development portfolio. Finally, this paper illustrates the various "touch points" with other human exploration risk identification areas including human health and performance.

This subject technology has the potential to reduce cost for many Earth returning missions, both Government and commercial, including reentry vehicles, launch assets, and scientific experiments using balloons.

Steel cable was chosen for the lower end of the drogue and main parachute risers on NASA's Orion Multi Purpose Crew Vehicle Parachute Assembly System (CPAS) to protect the risers from extreme temperatures and abrasion should they contact the crew module during deployment, as was done for Apollo. Due to the weight and deployment complexity inherent in steel, there was significant interest in the possibility of substituting textile for steel for the drogue and main parachute risers. However, textile risers could be damaged when subjected to high temperature and abrasion. Investigations were consequently performed by a subset of the authors to determine whether sacrificial, non-load-bearing textile riser covers could be developed to mitigate the thermal and abrasion concerns. Multiple material combinations were tested, resulting in a cover design capable of protecting the riser against severe riser/crew module contact interactions. A feasibility study was then conducted to evaluate the performance of the textile drogue riser cover in relevant abrasive environments. This paper describes the testing performed and documents the results of this feasibility study.

We present a regional and seasonal climatology of SHADOZ ozone profiles in the troposphere and tropical tropopause layer (TTL) based on measurements taken during the first five years of Aura, 2005-2009, when new stations joined the network at Hanoi, Vietnam; Hilo, Hawaii; Alajuela Heredia, Costa Rica; Cotonou, Benin. In all, 15 stations operated during that period. A west-to-east progression of decreasing convective influence and increasing pollution leads to distinct tropospheric ozone profiles in three regions: (1) western Pacific eastern Indian Ocean; (2) equatorial Americas (San Cristobal, Alajuela, Paramaribo); (3) Atlantic and Africa. Comparisons in total ozone column from soundings, the Ozone Monitoring Instrument (OMI, on Aura, 2004-) satellite and ground-based instrumentation are presented. Most stations show better agreement with OMI than they did for EPTOMS comparisons (1998-2004; Earth-ProbeTotal Ozone Mapping Spectrometer), partly due to a revised above-burst ozone climatology. Possible station biases in the stratospheric segment of the ozone measurement noted in the first 7 years of SHADOZ ozone profiles are re-examined. High stratospheric bias observed during the TOMS period appears to persist at one station. Comparisons of SHADOZ tropospheric ozone and the daily Trajectory-enhanced Tropospheric Ozone Residual (TTOR) product (based on OMIMLS) show that the satellite-derived column amount averages 25 low. Correlations between TTOR and the SHADOZ sondes are quite good (typical r2 0.5-0.8), however, which may account for why some published residual-based OMI products capture tropospheric interannual variability fairly realistically. On the other hand, no clear explanations emerge for why TTOR-sonde discrepancies vary over a wide range at most SHADOZ sites.

The Enhanced Master Controller Unit Tester (EMUT) software is a tool for development and testing of software for a master controller (MC) flight computer. The primary function of the EMUT software is to simulate interfaces between the MC computer and external analog and digital circuitry (including other computers) in a rack of equipment to be used in scientific experiments. The simulations span the range of nominal, off-nominal, and erroneous operational conditions, enabling the testing of MC software before all the equipment becomes available.

The number and complexity of extravehicular activities (EVAs) required for the completion and maintenance of the International Space Station (ISS) is unprecedented. The training required to successfully complete this magnitude of space walks presents a real risk of overuse musculoskeletal injuries to the EVA crew population. There was mounting evidence raised by crewmembers, trainers, and physicians at the Johnson Space Center (JSC) between 1999 and 2002 that suggested a link between training in the Neutral - Buoyancy Lab (NBL) and the several reported cases of shoulder injuries. The short- and long-term health consequences of shoulder injury to astronauts in training as well as the potential mission impact associated with surgical intervention to assigned EVA crew point to this as a critical problem that must be mitigated. Thus, a multi-directorate tiger team was formed in December of 2002 led by the EVA Office and Astronaut Office at the JSC. The primary objectives of this Tiger Team were to evaluate the prevalence of these injuries and substantiate the relationship to training in the NBL with the crew person operating in the EVA Mobility Unit (EMU). Between December 2002 and June of 2003 the team collected data, surveyed crewmembers, consulted with a variety of physicians, and performed tests. The results of this effort were combined with the vast knowledge and experience of the Tiger Team members to formulate several findings and over fifty recommendations. This paper summarizes those findings and recommendations as well as the process by which these were determined. The Tiger Team concluded that training in the NBL was directly linked to several major and minor shoulder injuries that had occurred. With the assistance of JSC flight surgeons, outside consultants, and the lead crewmember/physician on the team, the mechanisms of injury were determined. These mechanisms were then linked to specific aspects of the hardware design, operational techniques, and the training environment. During the 1999 to 2003 time frame many variables converged to make it impossible to determine with any accuracy which one or two root causes were primarily involved. Therefore a broad range of recommendations was established to prevent future injury to crewmembers training in the NBL in the near term. Many of these recommendations are lessons learned that are essentially timeless and therefore should be passed on to future EVA endeavors to ensure that hardware designs and operational techniques utilized in the future consider the demands of training on the human body here on earth.

The number and complexity of extravehicular activities required for the completion and maintenance of the International Space Station is unprecedented. It is not surprising that training to perform these space walks presents a risk of overuse musculoskeletal injuries. The goal of this tiger team, created in December 2002, was to identify the different factors contributing to the risk of EVA training-related shoulder injury in the Neutral Buoyancy Lab at the Sonny Carter Training Facility and to make recommendations that would either significantly reduce or eliminate those risks. Since 1999, concerns have been expressed about the risk of shoulder injury associated with EVA training at the NBL, particularly in inverted body positions (McMonigal, 1999). A survey was developed and administered to 42 astronauts and astronaut candidates; the results suggest a causal relationship between EVA training at the NBL and the observed injuries. Also, during the tiger team review, it became evident that training in the extravehicular mobility unit may also result in other types of injuries, including fingernail delamination, elbow pain, knee pain, foot pain, and nerve compression leading to transient loss of sensation in certain areas of the upper or lower extremity. A multi-directorate team to detect, evaluate and respond to the medical issues associated with EVA training should be implemented immediately and given the appropriate resources and authority to reduce the risk of injury to crew during training to a level as low as reasonably achievable.

Regression analyses indicated that the Coopersmith Self-Esteem Inventory has convergent validity with regard to the Piers-Harris Children's Self-Concept Scale and the Coopersmith Behavioral Academic Assessment Scale, has discriminant validity with regard to the Children's Social Desirability Scale, is sensitive to differences in achievement level, and is internally consistent. (Author/BW)