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NASA NTRS2015

Improved Rainfall Estimates and Predictions for 21st Century Drought Early Warning

As temperatures increase, the onset and severity of droughts is likely to become more intense. Improved tools for understanding, monitoring and predicting droughts will be a key component of 21st century climate adaption. The best drought monitoring systems will bring together accurate precipitation estimates with skillful climate and weather forecasts. Such systems combine the predictive power inherent in the current land surface state with the predictive power inherent in low frequency ocean-atmosphere dynamics. To this end, researchers at the Climate Hazards Group (CHG), in collaboration with partners at the USGS and NASA, have developed i) a long (1981-present) quasi-global (50degS-50degN, 180degW-180degE) high resolution (0.05deg) homogenous precipitation data set designed specifically for drought monitoring, ii) tools for understanding and predicting East African boreal spring droughts, and iii) an integrated land surface modeling (LSM) system that combines rainfall observations and predictions to provide effective drought early warning. This talk briefly describes these three components. Component 1: CHIRPS The Climate Hazards group InfraRed Precipitation with Stations (CHIRPS), blends station data with geostationary satellite observations to provide global near real time daily, pentadal and monthly precipitation estimates. We describe the CHIRPS algorithm and compare CHIRPS and other estimates to validation data. The CHIRPS is shown to have high correlation, low systematic errors (bias) and low mean absolute errors. Component 2: Hybrid statistical-dynamic forecast strategies East African droughts have increased in frequency, but become more predictable as Indo- Pacific SST gradients and Walker circulation disruptions intensify. We describe hybrid statistical-dynamic forecast strategies that are far superior to the raw output of coupled forecast models. These forecasts can be translated into probabilities that can be used to generate bootstrapped ensembles describing future climate conditions. Component 3: Assimilation using LSMs CHIRPS rainfall observations (component 1) and bootstrapped forecast ensembles (component 2) can be combined using LSMs to predict soil moisture deficits. We evaluate the skill such a system in East Africa, and demonstrate results for 2013.

Funk, Chris↗

NASA NTRS2015

Improved Rainfall Estimates and Predictions for 21st Century Drought Early Warning

Funk, Chris↗

NASA NTRS2010

Development of a Contingency Gas Analyzer for the Orion Crew Exploration Vehicle

NASA's experience with electrochemical sensors in a hand-held toxic gas monitor serves as a basis for the development of a fixed on-board instrument, the Contingency Gas Analyzer (CGA), for monitoring selected toxic combustion products as well as oxygen and carbon dioxide on the Orion Crew Exploration Vehicle (CEV). Oxygen and carbon dioxide are major components of the cabin environment and accurate measurement of these compounds is critical to maintaining a safe working environment for the crew. Fire or thermal degradation events may produce harmful levels of toxic products, including carbon monoxide (CO), hydrogen cyanide (HCN), and hydrogen chloride (HCl) in the environment. These three components, besides being toxic in their own right, can serve as surrogates for a panoply of hazardous combustion products. On orbit monitoring of these surrogates provides for crew health and safety by indicating the presence of toxic combustion products in the environment before, during and after combustion or thermal degradation events. Issues identified in previous NASA experiences mandate hardening the instrument and components to endure the mechanical and operational stresses of the CEV environment while maintaining high analytical fidelity. Specific functional challenges involve protecting the sensors from various anticipated events- such as rapid pressure changes, low cabin pressures, and extreme vibration/shock exposures- and extending the sensor lifetime and calibration periods far beyond the current state of the art to avoid the need for on-orbit calibration. This paper focuses on lessons learned from the earlier NASA hardware, current testing results, and engineering solutions to the identified problems. Of particular focus will be the means for protecting the sensors, addressing well known cross-sensitivity issues and the efficacy of a novel self monitoring mechanism for extending sensor calibration periods.

Niu, Bill↗

NASA NTRS2004

On-Board Chemical Propulsion Technology

On-board propulsion functions include orbit insertion, orbit maintenance, constellation maintenance, precision positioning, in-space maneuvering, de-orbiting, vehicle reaction control, planetary retro, and planetary descent/ascent. This paper discusses on-board chemical propulsion technology, including bipropellants, monopropellants, and micropropulsion. Bipropellant propulsion has focused on maximizing the performance of Earth storable propellants by using high-temperature, oxidation-resistant chamber materials. The performance of bipropellant systems can be increased further, by operating at elevated chamber pressures and/or using higher energy oxidizers. Both options present system level difficulties for spacecraft, however. Monopropellant research has focused on mixtures composed of an aqueous solution of hydroxl ammonium nitrate (HAN) and a fuel component. HAN-based monopropellants, unlike hydrazine, do not present a vapor hazard and do not require extraordinary procedures for storage, handling, and disposal. HAN-based monopropellants generically have higher densities and lower freezing points than the state-of-art hydrazine and can higher performance, depending on the formulation. High-performance HAN-based monopropellants, however, have aggressive, high-temperature combustion environments and require advances in catalyst materials or suitable non-catalytic ignition options. The objective of the micropropulsion technology area is to develop low-cost, high-utility propulsion systems for the range of miniature spacecraft and precision propulsion applications.

Reed, Brian D.↗

NASA NTRS2011

NASA Tech Briefs, January 2011

The topics include: 1) Distributed Aerodynamic Sensing and Processing Toolbox; 2) Collaborative Supervised Learning for Sensor Networks; 3) Hazard Detection Software for Lunar Landing; 4) Onboard Nonlinear Engine Sensor and Component Fault Diagnosis and Isolation Scheme; 5) Network-Capable Application Process and Wireless Intelligent Sensors for ISHM; 6) Interface Supports Multiple Broadcast Transceivers for Flight Applications; 7) FPGA Sequencer for Radar Altimeter Applications; 8) Miniature Sapphire Acoustic Resonator - MSAR; 9) Process-Hardened, Multi-Analyte Sensor for Characterizing Rocket Plume Constituents; 10) SAD5 Stereo Correlation Line-Striping in an FPGA; 11) Hybrid Composite Cryogenic Tank Structure; 12) Nanoscale Deformable Optics; 13) Reliability-Based Design Optimization of a Composite Airframe Component; 14) Zinc Oxide Nanowire Interphase for Enhanced Lightweight Polymer Fiber Composites; 15) Plasma Igniter for Reliable Ignition of Combustion in Rocket Engines; 16) Wire Test Grip Fixture; 17) A Sub-Hertz, Low-Frequency Vibration Isolation Platform; 18) Carbon Nanofibers Synthesized on Selective Substrates for Nonvolatile Memory and 3D Electronics; 19) Nanoparticle/Polymer Nanocomposite Bond Coat or Coating; 20) High-Resolution Wind Measurements for Offshore Wind Energy Development; 21) Spring Tire; 22) Marsviewer 2008; 23) Mission Services Evolution Center Message Bus; 24) Major Constituents Analysis for the Vehicle Cabin Atmosphere Monitor; 25) Astronaut Health Participant Summary Application; 26) Adaption of the AMDIS Method to Flight Status on the VCAM Instrument; 27) Natural Language Interface for Safety Certification of Safety-Critical Software; 28) Cryogenic Caging for Science Instrumentation; 29) Wide-Range Neutron Detector for Space Nuclear Applications; 30) In Situ Guided Wave Structural Health Monitoring System; 31) Multiplexed Energy Coupler for Rotating Equipment; 32) Attitude Estimation in Fractionated Spacecraft Cluster Systems; 33) Full Piezoelectric Multilayer-Stacked Hybrid Actuation/Transduction Systems; 34) Active Flow Effectors for Noise and Separation Control; 35) Method and System for Temporal Filtering in Video Compression Systems; 36) Apparatus for Measuring Total Emissivity of Small, Low-Emissivity Samples; 37) Multiple-Zone Diffractive Optic Element for Laser Ranging Applications; 38) Simplified Architecture for Precise Aiming of a Deep-Space Communication Laser Transceiver; 39) Two-Photon-Absorption Scheme for Optical Beam Tracking; 40) High-Sensitivity, Broad-Range Vacuum Gauge Using Nanotubes for Micromachined Cavities; 41) Wide-Field Optic for Autonomous Acquisition of Laser Link; 42) Extracting Zero-Gravity Surface Figure of a Mirror; 43) Modeling Electromagnetic Scattering From Complex Inhomogeneous Objects; 44) Visual Object Recognition and Tracking of Tools; 45) Method for Implementing Optical Phase Adjustment; 46) Visual SLAM Using Variance Grid Maps; 47) Rapid Calculation of Spacecraft Trajectories Using Efficient Taylor Series Integration; 48) Efficient Kriging Algorithms; 49) Predicting Spacecraft Trajectories by the WeavEncke Method; 50) An Augmentation of G-Guidance Algorithms; 51) Comparison of Aircraft Icing Growth Assessment Software; 52) Silicon-Germanium Voltage-Controlled Oscillator at 105 GHz; 53) Estimation of Coriolis Force and Torque Acting on Ares-1; 54) Null Lens Assembly for X-Ray Mirror Segments; and 55) High-Precision Pulse Generator.

Source record↗

NASA NTRS2004

Champagne Heat Pump

The term champagne heat pump denotes a developmental heat pump that exploits a cycle of absorption and desorption of carbon dioxide in an alcohol or other organic liquid. Whereas most heat pumps in common use in the United States are energized by mechanical compression, the champagne heat pump is energized by heating. The concept of heat pumps based on other absorption cycles energized by heat has been understood for years, but some of these heat pumps are outlawed in many areas because of the potential hazards posed by leakage of working fluids. For example, in the case of the water/ammonia cycle, there are potential hazards of toxicity and flammability. The organic-liquid/carbon dioxide absorption/desorption cycle of the champagne heat pump is similar to the water/ammonia cycle, but carbon dioxide is nontoxic and environmentally benign, and one can choose an alcohol or other organic liquid that is also relatively nontoxic and environmentally benign. Two candidate nonalcohol organic liquids are isobutyl acetate and amyl acetate. Although alcohols and many other organic liquids are flammable, they present little or no flammability hazard in the champagne heat pump because only the nonflammable carbon dioxide component of the refrigerant mixture is circulated to the evaporator and condenser heat exchangers, which are the only components of the heat pump in direct contact with air in habitable spaces.

Jones, Jack A.↗

NASA NTRSDate not supplied

Aggregate Risk Tool for Human Space Flight

This project utilized Data fusion capabilities developed from the 2020-2022 Information Fusion (IFDA) IRAD to enhance functionality of a Human Spaceflight (HSF) Aggregate Risk Product developed by the JSC Flight Safety Office. The tool compiles and presents risk data from multiple Program and Commercial Provider vehicles to provide a holistic assessment of residual risk to Program Managers and Technical Authorities prior to HSF Launches. The aggregation or coupling of risks from multiple sources (Examples: PRA, variances, anomaly data bases, Program Risk Management data bases, technical review board minutes, Hazard Analysis, etc.) when analyzed, identify potential areas of elevated risk in components, systems or mission phases that would otherwise be undetected by nonintegrated program risk management tools and possesses.

Patrick Huckaby↗

NASA NTRS2013

Preliminary Recommendations for the Collection, Storage, and Analysis of UAS Safety Data

Although the use of UASs in military and public service operations is proliferating, civilian use of UASs remains limited in the United States today. With efforts underway to accommodate and integrate UASs into the NAS, a proactive understanding of safety issues, i.e., the unique hazards and the corresponding risks that UASs pose not only through their operations for commercial purposes, but also to existing operations in the NAS, is especially important so as to (a) support the development of a sound regulatory basis, (b) regulate, design and properly equip UASs, and (c) effectively mitigate the risks posed. Data, especially about system and component failures, incidents, and accidents, provides valuable insight into how performance and operational capabilities/limitations contribute to hazards. Since the majority of UAS operations today take place in a context that is significantly different from the norm in civil aviation, i.e., with different operational goals and standards, identifying that which constitutes useful and sufficient data on UASs and their operations is a substantial research challenge.

Safety Data↗

DOE OSTI2020

Limitations of traditional tools for beyond design basis external hazard PRA

Probabilistic risk assessment (PRA) is being used increasingly by the nuclear industry for safety during normal operations as well as for the protection against external hazards. Computation of total risk in an external hazard PRA is dependent on hazard assessment, fragility assessment, and systems analysis. A systems analysis for propagation of component fragilities is conducted using event and fault trees. The event and fault trees for an actual power plant can be fairly large in size, which imposes computational challenges. Hence, certain assumptions are employed for computational efficiency. These assumptions typically represent the conditions imposed during the design basis (DB) scenario. The traditional PRA tools based on these assumptions are also widely applied to perform risk assessment in the context of beyond design basis (BDB) scenarios. However, some of these assumptions may not be valid for certain BDB scenarios. In addition, the probability of dependent failures also increases in BDB scenarios due to common cause failures (CCF) which usually results from design modifications, human errors, etc. In this manuscript, a simple and a relatively more complex illustrative examples are used to show the limitation of these assumptions in the numerical quantification of risk for the case of BDB conditions. Case studies with CCF events across multiple fault trees are also presented to illustrate the effect of these assumptions when traditional approach is used in BDB risk assessment. It is shown that the assumptions are valid for the case of DB conditions but may lead to excessively conservative risk estimates in the case of BDB conditions. Finally, a Bayesian network based top-down algorithm is proposed as an alternative tool for accurate numerical quantification of total risk in systems analysis.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

DOE OSTI2026

Mortality among workers at the Rocky Flats Plant, 1951–2017

The Rocky Flats (RFs) Plant operated from 1951–1989 as part of the U.S. Department of Energy (DOE) nuclear complex. Its primary mission was weapons component fabrication, whereby workers were potentially exposed to radioactive and non-radioactive hazards. RF worker mortality was compared to the general population, and dose-response relationships between mortality and radiation organ doses were examined. RF workers first employed between 1951 and 1979 for ⩾30 d were identified (n = 9397). Vital status was determined using national and state death records up to 2017. Organ doses from external photons and neutrons irritation and internalised plutonium (Pu), americium (Am), and uranium (U) were modelled as cumulative lagged total doses per year. Beryllium exposure was evaluated as an effect modifier using data from the DOE Nationwide Beryllium Medical Program. Statistical analyses included standardised mortality ratios (SMRs), Cox proportional hazard models, and excess relative risk (ERR) models. Approximately 53.2% of workers were deceased by the end of the study. Nearly 90% were monitored for radiation exposure, with a mean weighted absorbed dose of 59.0 mGy for the lungs. Nearly 45% of workers had intakes of alpha-particle emitting radionuclides, and 46.7% were monitored for neutrons. Leading causes of death included ischemic heart disease (n = 999) and lung cancer (n = 361). The highest SMRs were observed for berylliosis (SMR: 176.9; 95% CI: 76.2, 348.7; n < 10) and asbestosis (SMR: 4.65; 95% CI: 2.23, 8.55; n = 10). Dose-response analyses showed no statistical increase in risk from low-dose radiation including lung cancer (ERR per 100 mGy: −0.02; 95% CI: −0.11, 0.08; n = 361) and Parkinson’s disease (ERR per 100 mGy: 0.13; 95% CI: −0.26, 0.31; n = 57). Approximately 45% of workers were monitored for beryllium, with a weak non-significant indication of effect modification for lung cancer risk. The RF cohort showed no evidence of a statistically significant increase in mortality from occupational radiation exposure. However, this study was limited by low statistical power, which inhibits the ability to detect effects. Future pooling of Million Person Study (MPS) cohorts will provide further insights, particularly regarding Pu as a carcinogen.

61 RADIATION PROTECTION AND DOSIMETRY↗

DOE OSTI2025

Hydrogen Transportation and Distributed Energy Systems Seismic Risk Assessment for Cascadia Subduction Zone Airport Facilities

Portland International Airport in Oregon is exploring operating a fleet of 28 fuel cell electric buses to support airport operations and possibly provide backup power during outages. In this report, we evaluate the risk of hydrogen deployment at an airport considering the potential for seismic activity. We present a seismic risk assessment for pressurized piping for a generic hydrogen refueling station at the airport. Only pressurized piping was considered in the risk analysis because of its vulnerability and availability of fragility information unlike the other components. Seismic capacity of other components should be included as more information becomes available. To characterize the seismic hazard, we considered the initiating event frequency of a Cascadia Subduction Zone earthquake event based on data from the literature. Seismic stressors that translate to the site from an earthquake event are expressed as peak ground acceleration. Site disturbance is characterized as a function of soil conditions, represented by different shear wave velocity values, which affect how seismic waves propagate and impact structures. Pipe fragility curves as a function of seismic capacity were used to correlate ground acceleration and failure probability. These fragility characteristics were combined with site-specific soil conditions to calculate the probability of pipe rupture during a seismic event. It should be noted that multiple simultaneous failures due to an earthquake event as a common cause are not considered. Some epistemic uncertainties such as self-exciting shocks, aftershocks, and the time variant nature of the ground motion are not considered either.

08 HYDROGEN↗

NASA NTRS1987

Telerobotic work system: Concept development and evolution

The basic concept of a telerobotic work system (TWS) consists of two dexterous manipulator arms controlled from a remote station. The term telerobotic describes a system that is a combination of teleoperator control and robotic operation. Work represents the function of producing physical changes. System describes the integration of components and subsystems to effectively accomplish the needed mission. Telerobotics reduces exposure to hazards for flight crewmembers and increases their productivity. The requirements for the TWS are derived from both the mission needs and the functional capabilities of existing hardware and software to meet those needs. The development of the TWS is discussed.

Jenkins, Lyle M.↗

NASA NTRS2011

L-Band Digital Aeronautical Communications System Engineering - Initial Safety and Security Risk Assessment and Mitigation

This document is being provided as part of ITT's NASA Glenn Research Center Aerospace Communication Systems Technical Support (ACSTS) contract NNC05CA85C, Task 7: "New ATM Requirements--Future Communications, C-Band and L-Band Communications Standard Development." ITT has completed a safety hazard analysis providing a preliminary safety assessment for the proposed L-band (960 to 1164 MHz) terrestrial en route communications system. The assessment was performed following the guidelines outlined in the Federal Aviation Administration Safety Risk Management Guidance for System Acquisitions document. The safety analysis did not identify any hazards with an unacceptable risk, though a number of hazards with a medium risk were documented. This effort represents a preliminary safety hazard analysis and notes the triggers for risk reassessment. A detailed safety hazards analysis is recommended as a follow-on activity to assess particular components of the L-band communication system after the technology is chosen and system rollout timing is determined. The security risk analysis resulted in identifying main security threats to the proposed system as well as noting additional threats recommended for a future security analysis conducted at a later stage in the system development process. The document discusses various security controls, including those suggested in the COCR Version 2.0.

Zelkin, Natalie↗

NASA NTRS2011

C-Band Airport Surface Communications System Engineering-Initial High-Level Safety Risk Assessment and Mitigation

This document is being provided as part of ITT's NASA Glenn Research Center Aerospace Communication Systems Technical Support (ACSTS) contract: "New ATM Requirements--Future Communications, C-Band and L-Band Communications Standard Development." ITT has completed a safety hazard analysis providing a preliminary safety assessment for the proposed C-band (5091- to 5150-MHz) airport surface communication system. The assessment was performed following the guidelines outlined in the Federal Aviation Administration Safety Risk Management Guidance for System Acquisitions document. The safety analysis did not identify any hazards with an unacceptable risk, though a number of hazards with a medium risk were documented. This effort represents an initial high-level safety hazard analysis and notes the triggers for risk reassessment. A detailed safety hazards analysis is recommended as a follow-on activity to assess particular components of the C-band communication system after the profile is finalized and system rollout timing is determined. A security risk assessment has been performed by NASA as a parallel activity. While safety analysis is concerned with a prevention of accidental errors and failures, the security threat analysis focuses on deliberate attacks. Both processes identify the events that affect operation of the system; and from a safety perspective the security threats may present safety risks.

Zelkin, Natalie↗

NASA NTRS2000

Testing of an Ammonia EVA Vent Tool for the International Space Station

When components of the International Space Station ammonia External Active Thermal Control System are replaced on-orbit, they must be vented immediately after removal from the system. Venting ensures that the component is not hard packed with liquid and thus does not pose a hazard. An extravehicular activity (EVA) vent tool has been developed to perform this function. However, there were concerns that the tool could whip, posing a hazard to the EVA astronaut, or would freeze. The ammonia vent tool was recently tested in a thermal/vacuum chamber to demonstrate that it would operate safely and would not freeze during venting. During the test, ammonia mimicking the venting conditions for six different heat exchanger initial conditions was passed through representative test articles. In the present work, the model that was used to develop the ammonia state and flow for the test points is discussed and the test setup and operation is described. The qualitative whipping and freezing results of the test are discussed and vent plume pressure measurements are described and interpreted.

Ungar, Eugene K.↗

NASA NTRS2016

Evaluation of Additively Manufactured Metals for Use in Oxygen Systems Project

Space Launch System, Commercial Resupply, and Commercial Crew programs have published intent to use additively manufactured (AM) components in propulsion systems and are likely to include various life support systems in the future. Parts produced by these types of additive manufacturing techniques have not been fully evaluated for use in oxygen systems and the inherent risks have not been fully identified. Some areas of primary concern in the SLS process with respect to oxygen compatibility may be the porosity of the printed parts, fundamental differences in microstructure of an AM part as compared to traditional materials, or increased risk of shed metal particulate into an oxygen system. If an ignition were to occur the printed material could be more flammable than components manufactured from a traditional billet of raw material and/or present a significant hazards if not identified and rigorously studied in advance of implementation into an oxygen system.

Tylka, Jonathan↗

NASA NTRS2018

A Prognostic Launch Vehicle Probability of Failure Assessment Methodology for Conceptual Systems Predicated on Human Causal Factors

Create an improved method to calculate reliability of a conceptual launch vehicle system prior to fabrication by using historic data of actual root causes of failures. While failures have unique "proximate causes", there are typically a finite amount of common "root causes". Heretofore launch vehicle reliability evaluation typically hardware-centric statistical analyses, while most root causes of failures are been shown to be human-centric. A method based on human-centric root causes can be used to quantify reliability assessments and focus proposed actions to mitigate problems. Existing methods have been optimistic in their projections of launch vehicle reliability compared to actuals. Hypothesis: reliability of a conceptual launch vehicle can be more accurately evaluated based on a rational, probabilistic approach using past failure assessment teams' findings predicated on human-centric causes."Human Reliability Analysis Methods Selection Guidance for NASA"Chandler F.T., et al., NASA HQ/OSMA study group, July 2006. Outside HRA experts from academia, other federal labs, and the private sector. 50 system reliability methods considered, fourteen selected for further study, four finally selected as best suited for human spaceflight. Probabilistic Risk Analysis (PRA) + Human Reliability Analysis (HRA) enabled incorporating effects and probabilities of human errors. While four down-selected methods deemed appropriate for failure assessment, it did not appear that these methods could be concisely applied to perform major system-wide assessment of probability of failure of a conceptual design without becoming unwieldy."Engineering a Safer World", Detailed, comprehensive study external to NASA Leveson N. G., MIT, 2011.Systems-Theoretic Accident Model and Processes (STAMP). All-encompassing accident model based on systems theory analyzed accidents after they occurred and created approaches to prevent occurrence in developing systems not focused on failure prevention per se, but rather reducing hazards by influencing human behavior through use of constraints, hierarchical control structures, and process models to improve system safetySystem Theoretic Process Analysis (STPA) addresses predictive part of problem (a "hazard analysis"). Includes all causal factors identified in STAMP: "...design errors, software flaws, component interaction accidents, cognitively complex human decision-making errors, and social organizational and management factors contributing to accidents" can guide design process rather than require it to exist before-hand did not appear capable of concise application for system-wide assessment of probability of failure of a conceptual design without becoming unwieldy.

Williams, Craig H.↗

NASA NTRS2018

Working Fluid Trade Study for a Two-Phase Mechanically Pumped Loop Thermal Control System

NASA Jet Propulsion Laboratory is investigating a two-phase mechanically pumped fluid loop (MPFL) technology for spacecraft thermal control for future planetary space science mission concepts. The two-phase technology combines the potential of single-phase MPFL and the passive two-phase heat pipe systems. Previous two-phase MPFL studies at JPL have identified an evaporator system with a separated flow architecture as providing a robust light mass thermal control system with very high spatial and temporal thermal stability required by the science instruments on these missions. These studies have further identified the thermophysical properties of the working fluid to be key to the performance of a two-phase fluid loop. This paper describes the methodology used in the selection of the working fluids for optimizing the performance of the two-phase MPFL. A high level model was developed that includes the constraints and boundaries driven by the system components. The performance of fluids from the REFPROP database are investigated and rated for this system. The working fluid attributes such as cost, hazardous properties, and heritage were taken into account in this selection. A typical spacecraft dissipating 1000 W and a fluid loop consisting of an evaporator, accumulator, radiator, and associated tubing components is used as an example in this study.

Daimaru, Takuro↗