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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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NASA NTRSDate not supplied

Autonomous In-space Construction, Maintenance, and Reconfiguration Using Programmable Meta-Material

NASA ARC's Coded Structures Laboratory (CSL) is developing autonomous construction, maintenance, and reconfiguration technologies to meet long-duration and deep space infrastructure needs, in accordance with long-term NASA goals of "in-space reliance" and "mass-less exploration." We seek to achieve these capabilities by utilizing a "programmable meta-material" approach that integrates emerging advances in materials (mechanical meta-materials), manufacturing (cooperative mobile robotics), and autonomy (multi-agent planning algorithms). Through the ARMADAS project, we have shown assembly of high-performance engineered cellular materials using multiple cooperating mobile robotic assemblers. In this paper, we describe how such a programmable meta-material architecture may shift the paradigm of how we design, build, manufacture, and operate future space infrastructure and assets. The core of a programmable meta-material architecture consists of 3 main technology sub-areas: the structure, the assembly agents, and the assembly algorithms. We co-design these systems to ensure an adaptable system that can create and reconfigure structures from a base set of building block components. From this core technology, we can branch out and expand the capability of the system through additional secondary component types and robotic agents to perform activities such as inspections, maintenance, repair, payload installation, or perform power and communications interconnect. As these technologies mature, future designers will be able to utilize the system to rapidly integrate and operate assets in space or on planetary surfaces from a set of well-tested part library, or create their own modules to integrate into the system. A core trait to the development of this system is the automation approach. Because of the modular and functional discrete (pixel-like) nature of the structural system, a diverse set of powerful algorithms for analysis, planning, and simulation can be adapted and leveraged to optimize construction, maintenance, and dynamic reorganization (as hardware with programmable form and function). With an ability to free the design space from launch vehicle constraints and fundamentally shift how a mission is designed and conducted, we discuss the influence of a programmable meta-material architecture on mission design, build, and operations. For the "design phase", we discuss project lifecycle effects, costs, time, and performance. For the "build phase", we discuss reusability, ISRU, manufacturing, material logistics, and scalability. And for "operations", we discuss autonomy, maintenance and upgrades, reliability, and reconfiguration. Autonomy and modularity are the primary enabling traits of this system. Engineering systems that utilize a modular and reconfiguration building block approach such as digital communication and computation systems, currently lead all other areas of technology in size and complexity scalability. NASA is extending the benefits and flexibility of digital systems to hardware systems, to optimize materials lifecycle management and expand our space exploration mission capabilities.

in space assembly↗
NASA NTRS1989

Distributed neural control of a hexapod walking vehicle

There has been a long standing interest in the design of controllers for multilegged vehicles. The approach is to apply distributed control to this problem, rather than using parallel computing of a centralized algorithm. Researchers describe a distributed neural network controller for hexapod locomotion which is based on the neural control of locomotion in insects. The model considers the simplified kinematics with two degrees of freedom per leg, but the model includes the static stability constraint. Through simulation, it is demonstrated that this controller can generate a continuous range of statically stable gaits at different speeds by varying a single control parameter. In addition, the controller is extremely robust, and can continue the function even after several of its elements have been disabled. Researchers are building a small hexapod robot whose locomotion will be controlled by this network. Researchers intend to extend their model to the dynamic control of legs with more than two degrees of freedom by using data on the control of multisegmented insect legs. Another immediate application of this neural control approach is also exhibited in biology: the escape reflex. Advanced robots are being equipped with tactile sensing and machine vision so that the sensory inputs to the robot controller are vast and complex. Neural networks are ideal for a lower level safety reflex controller because of their extremely fast response time. The combination of robotics, computer modeling, and neurobiology has been remarkably fruitful, and is likely to lead to deeper insights into the problems of real time sensorimotor control.

Beer, R. D.↗
NASA NTRS1991

Implementation of 3-D isoparametric finite elements on supercomputer for the formulation of recursive dynamical equations of multi-body systems

A computational algorithmic procedure is developed and implemented for the dynamic analysis of a multibody system with rigid/flexible interconnected bodies. The algorithm takes into consideration the large rotation/translation and small elastic deformations associated with the rigid-body degrees of freedom and the flexibility of the bodies in the system respectively. Versatile three-dimensional isoparametric brick elements are employed for the modeling of the geometric configurations of the bodies. The formulation of the recursive dynamical equations of motion is based on the recursive Kane's equations, strain energy concepts, and the techniques of component mode synthesis. In order to minimize CPU-intensive matrix multiplication operations and speed up the execution process, the concepts of indexed arrays is utilized in the formulation of the equations of motion. A spin-up maneuver of a space robot with three flexible links carrying a solar panel is used as an illustrative example.

Shareef, N. H.↗
NASA NTRS1987

Adaptive control of robotic manipulators

The author presents a novel approach to adaptive control of manipulators to achieve trajectory tracking by the joint angles. The central concept in this approach is the utilization of the manipulator inverse as a feedforward controller. The desired trajectory is applied as an input to the feedforward controller which behaves as the inverse of the manipulator at any operating point; the controller output is used as the driving torque for the manipulator. The controller gains are then updated by an adaptation algorithm derived from MRAC (model reference adaptive control) theory to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal are also used to enhance closed-loop stability and to achieve faster adaptation. The proposed control scheme is computationally fast and does not require a priori knowledge of the complex dynamic model or the parameter values of the manipulator or the payload.

Seraji, H.↗
NASA NTRS2012

Investigation of Transonic Wake Dynamics for Mechanically Deployable Entry Systems

A numerical investigation of transonic flow around a mechanically deployable entry system being considered for a robotic mission to Venus has been performed, and preliminary results are reported. The flow around a conceptual representation of the vehicle geometry was simulated at discrete points along a ballistic trajectory using Detached Eddy Simulation (DES). The trajectory points selected span the low supersonic to transonic regimes with freestream Mach numbers from 1:5 to 0:8, and freestream Reynolds numbers (based on diameter) between 2:09 x 10(exp 6) and 2:93 x 10(exp 6). Additionally, the Mach 0:8 case was simulated at angles of attack between 0 and 5 . Static aerodynamic coefficients obtained from the data show qualitative agreement with data from 70deg sphere-cone wind tunnel tests performed for the Viking program. Finally, the effect of choices of models and numerical algorithms is addressed by comparing the DES results to those using a Reynolds Averaged Navier-Stokes (RANS) model, as well as to results using a more dissipative numerical scheme.

Stern, Eric↗
NASA NTRS2018

Seasonal and Interannual Assessment of Cloud Cover and Atmospheric Constituents Across the Amazon (2000 - 2015): Insights for Remote Sensing and Climate Analysis

The quantitative assessment of cloud cover and atmospheric constituents improves our ability to exploit the climate feedback into the Amazon basin. In the 21st century, three droughts have already occurred in the Amazonia (e.g. 2005, 2010, 2015), inducing regional changes in the seasonal patterns of atmospheric constituents. In addition to climate, the atmospheric dynamic and attenuation properties are long-term challenges for satellite-based remote sensing of this ecosystem: high cloudiness, abundant water vapor content and biomass burning season. Therefore, while climatology analysis supports the understanding of atmospheric variability and trends, it also offers valuable insights for remote sensing applications. In this study, we evaluate the seasonal and interannual variability of cloud cover and atmospheric constituents (aerosol loading, water vapor and ozone content) over the Amazon basin, with focus on both climate analysis and remote sensing implications. We take the advantage of new atmosphere daily products at 1 km resolution derived from Multi-Angle Implementation for Atmospheric Correction (MAIAC) algorithm developed for Moderate Resolution Imaging Spectroradiometer (MODIS) data. An intercomparison of Aerosol Robotic Network (AERONET) and MAIAC aerosol optical depth (AOD) and columnar water vapor (CWV) showed quantitative information with a correlation coefficient higher than 0.81. Our results show distinct regional patterns of cloud cover across the Amazon basin: northwestern region presets a persistent cloud cover (> 80%) throughout the year, while low cloud cover (0-20%) occurs in the southern Amazon during the dry season. The cloud-free period in the southern Amazon is followed by an increase in the atmospheric burden due to fire emissions. Our results reveal that AOD records are changing in terms of area and intensity. During the 2005 and 2010 droughts, the positive AOD anomalies (δ > 0.1) occurred over 39.03% (240.3 million ha) and 27.14% (165.99 million ha) of total basin in the SON season, respectively. In contrast, the recent 2015 drought occurred towards the end of year (October through December) and these anomalies were observed over 23.72% (145 million ha) affecting areas in the central and eastern Amazon unlike previous droughts. The water vapor presents high concentration values (4.0-5.0 g/sq.cm) in the wet season (DJF), while we observed a strong spatial gradient from northwestern to southeastern of the basin during the dry season. In addition, we also found a positive trend of water vapor content ( ∼0.3 g/sq.cm) between 2000 and 2015. The total ozone typically varies between 220 and 270 DU, and it has a seasonal change of ∼25-35 DU from wet season to dry season caused by large emissions of ozone precursors and long-range transport. Finally, while this study contributes to climatological analysis of atmospheric constituents, the remote sensing users can also understand the regional constraints caused by atmospheric attenuation, such as high aerosol loading and cloud obstacles for surface observations.

ozone↗
NASA NTRS2000

Towards Evolving Electronic Circuits for Autonomous Space Applications

The relatively new field of Evolvable Hardware studies how simulated evolution can reconfigure, adapt, and design hardware structures in an automated manner. Space applications, especially those requiring autonomy, are potential beneficiaries of evolvable hardware. For example, robotic drilling from a mobile platform requires high-bandwidth controller circuits that are difficult to design. In this paper, we present automated design techniques based on evolutionary search that could potentially be used in such applications. First, we present a method of automatically generating analog circuit designs using evolutionary search and a circuit construction language. Our system allows circuit size (number of devices), circuit topology, and device values to be evolved. Using a parallel genetic algorithm, we present experimental results for five design tasks. Second, we investigate the use of coevolution in automated circuit design. We examine fitness evaluation by comparing the effectiveness of four fitness schedules. The results indicate that solution quality is highest with static and co-evolving fitness schedules as compared to the other two dynamic schedules. We discuss these results and offer two possible explanations for the observed behavior: retention of useful information, and alignment of problem difficulty with circuit proficiency.

Lohn, Jason D.↗
NASA NTRS2011

G-DYN Multibody Dynamics Engine

G-DYN is a multi-body dynamic simulation software engine that automatically assembles and integrates equations of motion for arbitrarily connected multibody dynamic systems. The algorithm behind G-DYN is based on a primal-dual formulation of the dynamics that captures the position and velocity vectors (primal variables) of each body and the interaction forces (dual variables) between bodies, which are particularly useful for control and estimation analysis and synthesis. It also takes full advantage of the spare matrix structure resulting from the system dynamics to numerically integrate the equations of motion efficiently. Furthermore, the dynamic model for each body can easily be replaced without re-deriving the overall equations of motion, and the assembly of the equations of motion is done automatically. G-DYN proved an essential software tool in the simulation of spacecraft systems used for small celestial body surface sampling, specifically in simulating touch-and-go (TAG) maneuvers of a robotic sampling system from a comet and asteroid. It is used extensively in validating mission concepts for small body sample return, such as Comet Odyssey and Galahad New Frontiers proposals.

Acikmese, Behcet↗
NASA NTRSDate not supplied

Post-Flight Performance Analysis of Navigation and Advanced Guidance Algorithms on a Terrestrial Suborbital Rocket Flight

There is currently renewed interest in robotic and crewed landers for a return to the lunar surface. Advanced guidance and navigation algorithms are essential to accurately delivering cargo and crew safely to the moon successfully. This paper reports the overall performance of an integrated set of navigation and guidance algorithms flown on a terrestrial suborbital rocket up to an altitude of approximately 100km. The navigation algorithm consists of an onboard extended Kalman Filter (EKF) that ingests multiple sensor measurements, one of which is the output from a terrain relative navigation (TRN) algorithm that cross-references camera images to on-board satellite imagery to perform feature correlation within the camera image. The guidance algorithm solves for a 6-degree-of-freedom (DoF) optimal trajectory using a successive convexification method during powered descent. The altitude range as well as the landing dynamics experienced during this test flight are realistic for an extraterrestrial landing and provide an invaluable data set to gauge the current development of these landing algorithms in an effort to advance the overall software readiness levels (SRL). This paper will delve into different aspects of each algorithm and present an analysis of the in-flight performance of the algorithms. This flight was conducted under the National Aeronautics and Space Administration (NASA) Safe and Precise Landing Integrated Capabilities Evolution (SPLICE) project focused on technology advancement for landing applications.

Guidance↗
NASA NTRS2011

NASA Tech Briefs, December 2011

Topics covered include: 1) SNE Industrial Fieldbus Interface; 2) Composite Thermal Switch; 3) XMOS XC-2 Development Board for Mechanical Control and Data Collection; 4) Receiver Gain Modulation Circuit; 5) NEXUS Scalable and Distributed Next-Generation Avionics Bus for Space Missions; 6) Digital Interface Board to Control Phase and Amplitude of Four Channels; 7) CoNNeCT Baseband Processor Module; 8) Cryogenic 160-GHz MMIC Heterodyne Receiver Module; 9) Ka-Band, Multi-Gigabit-Per-Second Transceiver; 10) All-Solid-State 2.45-to-2.78-THz Source; 11) Onboard Interferometric SAR Processor for the Ka-Band Radar Interferometer (KaRIn); 12) Space Environments Testbed; 13) High-Performance 3D Articulated Robot Display; 14) Athena; 15) In Situ Surface Characterization; 16) Ndarts; 17) Cryo-Etched Black Silicon for Use as Optical Black; 18) Advanced CO2 Removal and Reduction System; 19) Correcting Thermal Deformations in an Active Composite Reflector; 20) Umbilical Deployment Device; 21) Space Mirror Alignment System; 22) Thermionic Power Cell To Harness Heat Energies for Geothermal Applications; 23) Graph Theory Roots of Spatial Operators for Kinematics and Dynamics; 24) Spacesuit Soft Upper Torso Sizing Systems; 25) Radiation Protection Using Single-Wall Carbon Nanotube Derivatives; 26) PMA-PhyloChip DNA Microarray to Elucidate Viable Microbial Community Structure; 27) Lidar Luminance Quantizer; 28) Distributed Capacitive Sensor for Sample Mass Measurement; 29) Base Flow Model Validation; 30) Minimum Landing Error Powered-Descent Guidance for Planetary Missions; 31) Framework for Integrating Science Data Processing Algorithms Into Process Control Systems; 32) Time Synchronization and Distribution Mechanisms for Space Networks; 33) Local Estimators for Spacecraft Formation Flying; 34) Software-Defined Radio for Space-to-Space Communications; 35) Reflective Occultation Mask for Evaluation of Occulter Designs for Planet Finding; and 36) Molecular Adsorber Coating

Source record↗
NASA NTRS1994

Robotic vision techniques for space operations

Automation and robotics for space applications are being pursued for increased productivity, enhanced reliability, increased flexibility, higher safety, and for the automation of time-consuming tasks and those activities which are beyond the capacity of the crew. One of the key functional elements of an automated robotic system is sensing and perception. As the robotics era dawns in space, vision systems will be required to provide the key sensory data needed for multifaceted intelligent operations. In general, the three-dimensional scene/object description, along with location, orientation, and motion parameters will be needed. In space, the absence of diffused lighting due to a lack of atmosphere gives rise to: (a) high dynamic range (10(exp 8)) of scattered sunlight intensities, resulting in very high contrast between shadowed and specular portions of the scene; (b) intense specular reflections causing target/scene bloom; and (c) loss of portions of the image due to shadowing and presence of stars, Earth, Moon, and other space objects in the scene. In this work, developments for combating the adverse effects described earlier and for enhancing scene definition are discussed. Both active and passive sensors are used. The algorithm for selecting appropriate wavelength, polarization, look angle of vision sensors is based on environmental factors as well as the properties of the target/scene which are to be perceived. The environment is characterized on the basis of sunlight and other illumination incident on the target/scene and the temperature profiles estimated on the basis of the incident illumination. The unknown geometrical and physical parameters are then derived from the fusion of the active and passive microwave, infrared, laser, and optical data.

Krishen, Kumar↗
NASA NTRS1989

Robot Acting on Moving Bodies (RAMBO): Interaction with tumbling objects

Interaction with tumbling objects will become more common as human activities in space expand. Attempting to interact with a large complex object translating and rotating in space, a human operator using only his visual and mental capacities may not be able to estimate the object motion, plan actions or control those actions. A robot system (RAMBO) equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a tumbling object, is being developed. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations rearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enhancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using dynamic interpolations between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Davis, Larry S.↗
NASA NTRS2017

Comparison of EKF and UKF for Robotic Missions to Mars

The batched Kalman lter works well for a wide variety of orbit determination scenarios but requires linearized approximations to the underlying dynamical system. Furthermore, implementation depends on the computation of partial derivatives for all measurements and parameters used in the lter, a non-trivial task even when analytical derivations are possible. To address these limitations, many extensions and modi - cations to the linear Kalman lter have been proposed over the years since Kalman's initial publication. Our investigation examines two popular variants of the Kalman lter, namely the Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF), within the context of spacecraft missions to Mars. The EKF relies on the same mathematical basis as the classic version of the lter, however it sequentially updates the linearization as the ltering process is conducted. In contrast, the UKF is built upon the unscented transform which samples the nearby solution space and numerically propagates perturbed trajectories as part of the update / estimation process. We assess the performance of the ltering algorithms under a variety of mission scenarios with the goal of establishing decision criteria for which implementation to use under di ering circumstances.

Ely, Todd↗
NASA NTRS1989

Robot acting on moving bodies (RAMBO): Preliminary results

A robot system called RAMBO is being developed. It is equipped with a camera, which, given a sequence of simple tasks, can perform these tasks on a moving object. RAMBO is given a complete geometric model of the object. A low level vision module extracts and groups characteristic features in images of the object. The positions of the object are determined in a sequence of images, and a motion estimate of the object is obtained. This motion estimate is used to plan trajectories of the robot tool to relative locations nearby the object sufficient for achieving the tasks. More specifically, low level vision uses parallel algorithms for image enchancement by symmetric nearest neighbor filtering, edge detection by local gradient operators, and corner extraction by sector filtering. The object pose estimation is a Hough transform method accumulating position hypotheses obtained by matching triples of image features (corners) to triples of model features. To maximize computing speed, the estimate of the position in space of a triple of features is obtained by decomposing its perspective view into a product of rotations and a scaled orthographic projection. This allows the use of 2-D lookup tables at each stage of the decomposition. The position hypotheses for each possible match of model feature triples and image feature triples are calculated in parallel. Trajectory planning combines heuristic and dynamic programming techniques. Then trajectories are created using parametric cubic splines between initial and goal trajectories. All the parallel algorithms run on a Connection Machine CM-2 with 16K processors.

Davis, Larry S.↗
NASA NTRS2005

Diagnosing Hybrid Systems: a Bayesian Model Selection Approach

In this paper we examine the problem of monitoring and diagnosing noisy complex dynamical systems that are modeled as hybrid systems-models of continuous behavior, interleaved by discrete transitions. In particular, we examine continuous systems with embedded supervisory controllers that experience abrupt, partial or full failure of component devices. Building on our previous work in this area (MBCG99;MBCG00), our specific focus in this paper ins on the mathematical formulation of the hybrid monitoring and diagnosis task as a Bayesian model tracking algorithm. The nonlinear dynamics of many hybrid systems present challenges to probabilistic tracking. Further, probabilistic tracking of a system for the purposes of diagnosis is problematic because the models of the system corresponding to failure modes are numerous and generally very unlikely. To focus tracking on these unlikely models and to reduce the number of potential models under consideration, we exploit logic-based techniques for qualitative model-based diagnosis to conjecture a limited initial set of consistent candidate models. In this paper we discuss alternative tracking techniques that are relevant to different classes of hybrid systems, focusing specifically on a method for tracking multiple models of nonlinear behavior simultaneously using factored sampling and conditional density propagation. To illustrate and motivate the approach described in this paper we examine the problem of monitoring and diganosing NASA's Sprint AERCam, a small spherical robotic camera unit with 12 thrusters that enable both linear and rotational motion.

McIlraith, Sheila A.↗
NASA NTRS2004

Simulating Operation of a Planetary Rover

Simulating Operation of a Planetary Rover Rover Analysis, Modeling, and Simulations (ROAMS) is a computer program that simulates the operation of a robotic vehicle (rover) engaged in exploration of a remote planet. ROAMS is a roverspecific extension of the DARTS and Dshell programs, described in prior NASA Tech Briefs articles, which afford capabilities for mathematical modeling of the dynamics of a spacecraft as a whole and of its instruments, actuators, and other subsystems. ROAMS incorporates mathematical models of kinematics and dynamics of rover mechanical subsystems, sensors, interactions with terrain, solar panels and batteries, and onboard navigation and locomotion-control software. ROAMS provides a modular simulation framework that can be used for analysis, design, development, testing, and operation of rovers. ROAMS can be used alone for system performance and trade studies. Alternatively, ROAMS can be used in an operator-in-the-loop or flight-software closed-loop environment. ROAMS can also be embedded within other software for use in analysis and development of algorithms, or for Monte Carlo studies, using a variety of terrain models, to generate performance statistics. Moreover, taking advantage of realtime features of the underlying DARTS/Dshell simulation software, ROAMS can also be used for real-time simulations.

Jain, Abhinandan↗
NASA NTRS2013

Catching a Rolling Stone: Dynamics and Control of a Spacecraft and an Asteroid

In a recent report, a robotic spacecraft mission is proposed for the purpose of collecting a small asteroid, or a small part of a large one, and transporting it to an orbit in the Earth-Moon system. Such an undertaking will require solutions to many of the engineering problems associated with deflection of an asteroid that poses a danger to Earth. In both cases, it may be necessary for a spacecraft to approach an asteroid from a nearby position, hover for some amount of time, move with the same angular velocity as the asteroid, descend, perhaps ascend, and finally arrest the angular velocity of the asteroid. Dynamics and control in each of these activities is analyzed in order to determine the velocity increments and control torque that must be provided by a reaction control system, and the mass of the propellant that will be consumed. Two attitude control algorithms are developed, one to deal with synchronizing the spacecraft s angular velocity with that of the asteroid, and the other to arrest the asteroid s angular velocity. A novel approach is proposed for saving fuel in the latter case.

Roithmayr, Carlos M.↗
NASA NTRS2020

Charged Particle Dynamics in the Lunar Environment

As the Artemis Program streams forward, organizations of scientists and engineers across the country have been coming together to solve the complex network of problems to once again achieve the milestone of successfully touching down on the moon. This project is no exception, and it has been an honor to work with the Electrostatics and Surface Physics Laboratory (ESPL), a lab within the Exploration Research and Technology Programs’ Spaceport Technologies Office (UB-G) located at the National Aeronautics and Space Administration at Kennedy Space Center (NASA KSC). The authors and their mentor James R. Phillips III3, in tandem with researchers from the Astrodynamics and Space Robotics Laboratory (ASRL) at the University of Central Florida (UCF), have been working on creating a state-of-the-art (SOA) granular gas dynamics model for particulate contamination prevention and mitigation purposes. In essence, the underlying objective for this project is to more accurately model the resulting electrodynamic interactions between lunar regolith grains with applications to dust mitigation and rocket engine plume surface interactions. To achieve this goal, the team has been expanding upon existing open source classical molecular dynamics code developed by Sandia National Laboratories (SNL). The following reports on the details of the problem at hand as well as the contributions that the authors have made towards resolution, including but not limited to the encoding of physical attributes and interactions for non-spherical polydisperse particle distributions within various bed geometries and preemptive data analysis implementations. Significant data analysis processes were utilized, and several original algorithms were created to perform critical evaluations, resulting in only a 0.006% error in discrepancy.

Annelisa B Esparza↗