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Collision Avoidance System
NASA LICENSING WEBINAR
Agenda for Today’s Webinar
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Welcome and Logistics
Technology Overview
Licensing Opportunities
Q & A
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Presenters
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Laura Fobel
Technology Transfer Officer,
NASA Armstrong TTO
Mark Skoog
Principal Investigator,
Automatic Systems Project Office
Armstrong Flight Research Center
Advancing technology & science through flight
�ĀMulti-disciplinary flight research
�ĀCutting-edge range & aircraft test facilities
�ĀFlight systems & test technique development
�ĀDiverse fleet of experimental & test aircraft
�ĀPiloted and unpiloted
�ĀAirborne remote sensing & science observation
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Armstrong Technology Transfer Office
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Manages commercialization of innovations
Facilitates research collaborations
(e.g., Space Act Agreements)
Supports utilization of SBIR and STTR results for
NASA mission use and commercialization
Armstrong’s Technology Portfolio
Control systems Sample
Sensors Innovations
Software packages
Improve flight and pilot safety Real-World
Help fight forest firesImpacts
Enhance security monitoring
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Improved Ground Collision Avoidance
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Looking
ahead
Testing &
evaluation
Context for Development
status development
Design description/
Functional architecture Technology
overview
Technology Overview
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Technologies Available for Licensing
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Preventing
Controlled Flight into Terrain (CFIT)
� High-fidelity terrain mapping
� Enhanced vehicle performance modeling
� Multi-directional avoidance techniquesSystem
includes: � Efficient data handling
� User-friendly warnings
� Flexible platform � Variety of aircraft
� Avionics system, mobile app–based,
electronic flight bag (EFB)
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Applications
Helicopters
viation
UAVs/Drones
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General A
Digital Autopilots
Military Aircraft
Technology Overview
Context for Development
Video: http://www.nasa.gov/offices/ipp/centers/dfrc/technology/
DRC-012-033-collision-avoidance.html
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Military
Reasons Collision Avoidance
Improvements Are Needed
viation
#2 cause fatalities #1 cause fatalities
#2 cause mishaps
viation Military
Reasons Collision Avoidance
Improvements Are Needed
•ĀIneffective warning
systems for fighter pilots
•ĀTraining achievements
maxed out
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Controlled flight into terrain or midair collisions
General A
Existing solutions unsuccessful
or impractical
General A
•Ā Equipage to preventcan be cost prohibitive
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NASA Armstrong’s History in
Collision Avoidance
Automatic vs. Pilot Flown Warning
Ground Collision Avoidance
Top-Level System Description: •ĀUses nav solution and digital
terrain •ĀAlgorithm determines when
and where to avoid
Algorithm Features:
•Ā Nuisance free
•Ā Platform agnostic
•Ā Sensor agnostic
•Ā Modular software
architecture
F-16
2010 Risk Reduction Project
2013-14 Production Fielding
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Semi-Automatic Semi-Automatic Fully Automatic Manual
Research F-16 Production F-16 Research UAV GA Aircraft (SR22)
Advanced Fighter Automated Collision Small Unmanned Improved Collision Technology Integration Avoidance Technology Air Vehicle Avoidance System
Engages high-authority autopilot
to perform maneuver
Takes Control from Pilot •ĀWarning cues are optional
Small UAV
2012 Migration to Smart-Phone
Issues Warning Cue
•Ā Tells pilot when and where to avoid
SR22
2013-14 Evaluation
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Technology Overview
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Design Description
and
Functional Architecture
Guiding Principles
•Ā Do no harm
Requirements •Ā Do not impede
•Ā Avoid collision
•ĀCodified
Approach •ĀModularly partitioned at the
functional level
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Collision Avoidance Common
Functional Architecture
System Predicts Avoidance
Trajectories
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Sense
Own-State
Sufficient to
support trajectory
estimation
Sense
Collision Threat
•ĀTerrain •ĀAircraft •Ā Weather •ĀMissiles
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Predict Avoidance
Trajectories
•ĀAvoidance types
•ĀManeuvering capability
•ĀAvoidance trajectory
estimations
•ĀAssociated uncertainties
Predict
Collision Threat
•ĀScan/Track pertinent
threat
•ĀSimplify threat profile
•Ā Associated uncertainties
Determine
Need to Avoid
•ĀMinimum approach
•ĀIntegrity check
•ĀTime to evade
•ĀCommand avoidance
Pilot
Controls
•ĀMode selection
•ĀInterface
Notify
•ĀAlert
•ĀRecord
•ĀRecall
Avoid
•ĀIntegrity check •ĀExecute avoidance
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Faster than real-time
simulation
Predicts avoidance
trajectory through
space
Kinematic model
–ĀDelay phase
–ĀOnset phase
–ĀSteady-state phase
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System Predicts Avoidance
Trajectories
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Faster than real-time
simulation
Predicts avoidance
trajectory through
space
Kinematic model
–ĀDelay phase
–ĀOnset phase
–ĀSteady-state phase
System Predicts Avoidance
Trajectories
Trajectory
Attitude
Envelope
F-16 System Small UAV System GA System (SR22)
Single Trajectory •Ā Roll to wings-level Multi-Trajectory Multi-Trajectory •Ā Pull 5-6g or 18°–20° •Ā Wings-level •Ā 0 and ±30° bank
angle-of-attack •Ā 40° left and right bank •Ā Vy+10 climb rate
•Ā Over 30,000 f/m •Ā 1,000 f/m climb rate •Ā Modified chandelle climb rate
Limited Attitude Limited AttitudeAll Attitude
•Ā ±60° bank •Ā ±60° bank •Ā Bank
•Ā 45° dive •Ā 45° dive •Ā Dive
•Ā Does not support nadir •Ā Does not support nadir
Near-All Envelope All Envelope
•Ā > 2g available All Envelope •Ā Above stall to Vmax•Ā Mach 2+ •Ā 40 to 80 knots •Ā All altitudes
•Ā All store loadings •Ā < 1,500 feet above ground •Ā All gross weights
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Collision Avoidance Common
Functional Architecture
Sense
Own-State
Sense
Collision Threat
Predict Avoidance
Trajectories
Predict
Collision Threat
Determine
Need to Avoid
Pilot
Controls
Notify
Avoid
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System Senses Collision Threat
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Sufficient to
support trajectory
estimation
•ĀAvoidance types
•ĀManeuvering capability
•ĀAvoidance trajectory
•ĀIntegrity check •ĀExecute avoidance
estimations
•ĀAssociated uncertainties
•ĀTerrain •ĀAircraft •Ā Weather •ĀMissiles
•ĀScan/Track pertinent
threat
•ĀSimplify threat profile
•Ā Associated uncertainties
•ĀMinimum approach
•ĀIntegrity check
•ĀTime to evade
•ĀCommand avoidance
•ĀMode selection
•ĀInterface •ĀAlert
•ĀRecord
•ĀRecall
Digital terrain map (DTM)
•ĀArray of terrain elevations
•ĀOriented to latitude & longitude
Provided by third party
•ĀCivil: U.S. Geological Survey
•ĀMilitary: National Geospatial
Intelligence Agency
•ĀSupporting wide ����������
customer base
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System Senses Collision Threat
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System Senses Collision Threat
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Digital terrain map (DTM)
•ĀArray of terrain elevations
•ĀOriented to latitude & longitude
Provided by third party
•ĀCivil: U.S. Geological Survey
•ĀMilitary: National Geospatial
Intelligence Agency
•ĀSupporting wide
customer base
Digital terrain map (DTM)
•ĀArray of terrain elevations
•ĀOriented to latitude & longitude
Provided by third party
•ĀCivil: U.S. Geological Survey
•ĀMilitary: National Geospatial
Intelligence Agency
•ĀSupporting wide ��������
customer base �����
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System Senses Collision Threat
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F-16 System Small UAV & GA (SR22)
Digital
Terrain Map
Digital Terrain Elevation Data
(DTED)
•Ā Regular array
•Ā Even spacing
•Ā ~70 meg
Systems
Compressed Digital Terrain Map
(CDTM)
•Ā Semi-regular array
•Ā Size and fidelity adjustable to
user requirements
•Ā ~180 meg
Map Size •Ā ~5°x5° lat/long •Ā 80°N to 80°S
�Ā~90k sq. mi. �Ā~194M sq. mi.
Collision Avoidance Common
Functional Architecture
Sense
Own-State
Sufficient to
support trajectory
estimation
Sense
Collision Threat
•ĀTerrain •ĀAircraft •Ā Weather •ĀMissiles
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Predict Avoidance
Trajectories
•ĀAvoidance types
•ĀManeuvering capability
•ĀAvoidance trajectory
estimations
•ĀAssociated uncertainties
Predict
Collision Threat
•ĀScan/Track pertinent
threat
•ĀSimplify threat profile
•Ā Associated uncertainties
Determine
Need to Avoid
•ĀMinimum approach
•ĀIntegrity check
•ĀTime to evade
•ĀCommand avoidance
Pilot
Controls
•ĀMode selection
•ĀInterface
Notify
•ĀAlert
•ĀRecord
•ĀRecall
Avoid
•ĀIntegrity check •ĀExecute avoidance
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System Predicts Collision Threat
Circular
Terrain processing
(scanning) 2pt. Fan 6pt. Fan
Subsample terrain data
•Ā Terrain near aircraft
Simplify to 2-dimensional
profile
•Ā Preparation to compare to avoidance trajectory
Range Bins
System Predicts Collision Threat
Terrain processing
(scanning)
Subsample terrain data
•Ā Terrain near aircraft
Simplify to 2-dimensional
profile
•Ā Preparation to compare to avoidance trajectory
Te
rra
in E
leva
tio
n
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System Predicts Collision Threat
Integration and Installation
Aircraft state
data Digital terrain
storage
Algorithm
processing
Avoidance
maneuver
execution
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F-16 System Small UAV & GA (SR22)
Systems
Sub-Sample
Approach
•Ā Various geometric shapes
•Ā Dependent on aircraft state
•Ā Trajectory-based
�ĀGround track
�ĀTrack uncertainty
•Ā Aircraft agnostic
2-Dimensional
Profile •Ā ~Regularly spaced bins
•Ā Semi-regular spaced bins
�ĀTrack uncertainty
Pulling together system components
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Integration Is Flexible
Integration Is Continuing to Evolve
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Semi-automatic Fully automatic Manual
F-16 System Small UAV System GA System (SR22)
Aircraft
State Data •Ā 1553 mux
•Ā •Ā
RS-232 to USB
Command-and-control link
•Ā USB or wireless from
research computer
Digital Terrain
Storage
•Ā Advanced data transfer
cartridge •Ā Micro-SD card •Ā Micro-SD card
Algorithm •Ā Advanced data transfer •Ā Android smart phone •Ā Android smart phone
Processing unit
Avoidance •Ā High-authority autopilot
Maneuver in FCS •Ā Piccolo II autopilot •Ā Pilot flown
Execution •Ā No auto-throttle
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Technology Overview
Testing: F-16
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Testing and Evaluation
Collision
Avoidance
Excellent prevention
•Ā All historical F-16
CFIT mishaps covered
Nuisance-
Free Flight
Performance
•ĀHigh, low, and strafe
(attacking): Supports
required missions
•ĀAir show: Supports low-
altitude split-S execution
Do No Harm Works as designed
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Testing: Small UAV
Collision
Avoidance
•Ā Better than anticipated
in winds/gusts
•Ā Outperforms ability of
ground observers
Nuisance-
Free
Potential
•Ā Multi-trajectory
mandatory for lower
performing aircraft
Improvements needed
•Ā Phone-on-ground
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Excellent protection
Integrity
Management configuration requires
more complex integrity
monitoring
Tall Mountain with Protruding Ridge 100' terrain buffer, 70 knots
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Testing: SR22
Do Not Impede
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Integration
Results
Results of
5 Flight
Tests
Looking
Ahead
•Ā 40 hours to modify
algorithm to SR22
•Ā 10 working days to
integrate system
•Ā Characterization
•Ā Collision avoidance
•Ā Excellent mishap prevention
•Ā Nuisance-free operations
•Ā Better cuing required
•Ā Appropriate pilot reaction
time may be an issue
Note terrain resolution
of commercial unit
Commercial
unit warning
with no buffer
SR22 run at system warning initiation
System warning
with artificial
1,350-ft buffer
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Technology Overview
Current Status: What It Does Now
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Development Status
High-accuracy aircraft maneuver model
Advanced terrain handling
Multi-trajectory avoidance
Android OS/Nexus 4
Experimental wireless interface
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Current Status: Recent Improvements
Future Goals and Implementations
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Summer 2014
•ĀPilot-vehicle interface
�Ā Warning displays
�ĀPreference settings
•ĀConventional wireless interface
•ĀEasy aircraft adaptation for EFBs
Demonstration: Fall 2014
Goals
Possible
Formats
•ĀAccurate collision avoidance for
all aircraft
•ĀAutomatic and manual versions
•ĀFully automated ground
collision avoidance
•ĀGlass cockpit warning system
•ĀElectronic flight bag (EFB) or phone
warning system with wireless sensor inputs
•ĀStand-alone version using smart-device
sensors
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Roadmap – Vehicle Autonomy
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Ground collision
avoidance is the first in a series of planned
autonomy systems
This comprehensive
web will enable vehicle autonomy as provide
warning systems
Licensing Opportunities
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Armstrong Licensing Agreement Process
Armstrong Licensing Agreement Process
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Webinar briefing:
complete post-webinar “survey”
One-on-one
discussions with inventor
Phase 1 License
Application due
NASA announces
companies invited to submit Phase 2
•Ā •Ā •Ā •Ā •Ā
Follow-on steps:
Phase 2 License Application (by invitation) Phase 3 commercialization plan discussions
NASA drafts license agreement
Negotiate license language
Execute license
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One-on-One Discussions
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Opportunity for each company to speak directly with the inventor for 30 minutes
•ĀAsk questions
•ĀDiscuss company-specific information
Covered by Uniform Trade Secrets Act
•ĀNot be shared publicly
•ĀNot shared with other companies
Non-confidential discussion (no NDAs signed)
Request a meeting at http://www.meetme.so/DanielleMcCulloch
Phase 1 License Application
Enables evaluation of benefits for NASA,
taxpayers, and the company
All offers will be evaluated at the same
time •ĀMaximize benefits through simultaneous, strategic
selection
•ĀNot all applicants can be accepted due to limited
inventor availability
Download Phase 1: Application for License to Practice Invention:
http://www.nasa.gov/offices/ipp/centers/dfrc/technology/ DRC-012-033-collision-avoidance.html
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Phase 1 Components
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�Ā �Ā
Company background
Product or service that will use NASA technology
Market size
Initial offer
Capabilities
–ĀTechnical, management, marketing, and financial
Desired support from NASA
Appendix
–ĀPro forma income statement – form provided
Initial Offer
Basic business
terms overview
Establish schedule
and key milestones
Specify type
of license Propose fees
and royalties
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Basic Business Terms
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Which NASA invention(s):
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Basic Business Terms
Which NASA invention(s)
Fields of use, period of time, or geographic area
•ĀLimit to areas where licensee intends to market
Highlight any significant terms or conditions
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Type of License
Fees
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•Ā Must be substantially manufactured
Exclusive or
Partially Exclusive
in the U.S. for products sold in U.S.
•Ā Sub-licensing allowed
•Ā Patent cost reimbursement
Non-Exclusive
•Ā No sub-licensing
•Ā U.S. manufacturing not required
•Ā Pro-rated patent cost reimbursement
•Ā Multiple licensees
Fees
Upfront fee
Patenting costs
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Royalties
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Paid at least annually •Ā Based on Net Sales* •Ā Specify preferred metric (e.g., units)
•Ā Ascending/Descending royalty
structureRunning
Royalty Minimum annual royalties
Non-royalty sublicensing payments
– For exclusive license
*Net Sales (as defined in license) =
gross sales – (returns + discounts + shipping/insurance + taxes/duties)
Schedule and Key Milestones
Annual reports
Milestone examples
�ĀPrototype demonstration
�ĀManufacturing process development
�ĀFunding/Investments (especially for startups)
�ĀMarketing of product
�ĀAchievement of sales
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Phase 1 Components
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�Ā �Ā �Ā �Ā �Ā
�Ā �Ā
Company background
Product or service that will use NASA technology
Market size
Initial offer
Capabilities
–ĀTechnical, management, marketing, and financial
Desired support from NASA
Appendix
–ĀPro forma income statement – form provided
Pro Forma Income Statement
�Ā
�Ā
�Ā
�Ā
Years until positive cash flow plus 2 more years
Only for the product line using NASA’s technology
Include proposed royalty payments and minimums
Ensure assumptions are clear
Download pro forma template:
http://www.nasa.gov/offices/ipp/centers/dfrc/technology/ DRC-012-033-collision-avoidance.html
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Sample Pro Forma Income Statement
Evaluation Criteria
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Four types of factors:
Business Management
Technical Economic
Not all qualified companies will be granted a license. Submit your best offer.
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Negotiations
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Finding the win-win
•Ā
•Ā
Negotiable •Ā Items •Ā
•Ā
•Ā
Type of license
Field of use
Upfront licensing fee
Running royalty rate
Yearly minimums
Milestones
Negotiations
Finding the win-win
•Ā NASA/U.S. government retains
irrevocable, royalty-free rights
to technology forNon-Negotiable noncommercial usesItems
•Ā March-in rights
•Ā Indemnity and warranty
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Signature and Monitoring
Next Steps
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Agreement(s)
Signed
NASA Monitoring of
Commercialization
•ĀAll applicants will be notified after
signing
•ĀEnsure milestones met
•ĀEnsure compliance with annual
reporting and payments •ĀSuccesses: We will collaborate
with you to celebrate/publicize
Complete post-webinar “survey” Appears as you sign out today
Schedule one-on-one Inventor available September 2–12
http://www.meetme.so/DanielleMcCulloch
Download Phase 1 License Application http://www.nasa.gov/offices/ipp/centers/dfrc/technology/
DRC-012-033-collision-avoidance.html
Submit Phase 1 License Application and pro forma Due November 3
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Questions
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Contact:
Janeya Griffin
janeya.t.griffin@nasa.gov
661.276.5743
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