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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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At least 181 records · Page 10

Biomimetic Fly Eye Sensor for Real-Time Target Tracking

The project objective is to design, build, and demonstrate a biomimetic (inspired by biology) smart sensor based on the common house fly eye for real-time target tracking in three dimensions (3-D). The sensor makes use of revolutionary optical sensor design resulting in significantly improved motion detection capabilities when compared with conventional optical sensors. The design is motivated by the parallel nature of the flys vision system and its demonstrated hyperacuity or precision of visual localization beyond the conventional resolution limit. This means that the sensor is able to accurately detect very fast motion and small changes in motion. The analog architecture of the sensor allows for real-time solution at adjustable bandwidths depending on the application. The low cost, exceptionally lightweight, small form factor, low power requirements, and low computation requirements of the sensor make it ideally suited to many aeronautics applications that have limitations on weight, power, and processing time. The sensor is modular and can be easily adapted in scale and manufactured for a wide variety of sensing applications. Advanced target tracking algorithms will be developed to allow the sensor to track a target in 3-D. These algorithms will be implemented in the smart sensors hardware to enable real-time target tracking.

wing position measurement system↗

Isolation and conversion of electrolyte components into a value-added product

The overall objective of this work was to develop a process for effectively (i) recycling the electrolyte components from the end-of-life batteries and reduce the environmental hazard, (ii) understand the fundamental differences between pristine and recycled electrolyte components, (iii) electrochemically and analytically evaluate the recycled electrolyte components and (iv) establish deviations from the pristine electrolyte, and effectively separation of value-added product. We focused on determining scaling up the electrolyte recovery process by distillation of end-of-life batteries to get yield enough to use it for electrolyte formulation of reuse in the battery cell. The used cells from the ORNL battery manufacture facility (BMF)as well as received from the industry partner, Austin Elements Inc., was scaled to 10 used multilayered pouch cells in each batch of distillation and systematically separated and identified the electrolyte components of the used cells with FTIR and NMR studies. We were able to recovery 10g of solvent mass from the used pouch cells. NMR spectroscopy showed that the solvent was pure EMC,DMC and the sample was used to make a new battery cell. The end-of-life battery, it was noted that some cells were visually drier than the other cells and were more advanced in aged. In that case, even though the same distillation conditions were utilized, no usable mass of electrolyte solvent was recovered. It is expected that most of the solvent was decomposed during the battery charge-discharge cycling. The solid salt residue was separated by chemical and water treatment processes. Components of resulting solid product was analyzed by XRD and XPS measurements. The solid products are very much related to the salts used in the electrolyte solution.

25 ENERGY STORAGE↗

Isolation and Conversion of Electrolyte Components into a Value-Added Product

The overall objective of this work was to develop a process for effectively (i) recycling the electrolyte components from the end-of-life batteries and reduce the environmental hazard, (ii) understand the fundamental differences between pristine and recycled electrolyte components, (iii) electrochemically and analytically evaluate the recycled electrolyte components and (iv) establish deviations from the pristine electrolyte, and effectively separation of value-added product. We focused on determining scaling up the electrolyte recovery process by distillation of end-of-life batteries to get yield enough to use it for electrolyte formulation of reuse in the battery cell. The used cells from the ORNL battery manufacture facility (BMF) as well as received from the industry partner, Austin Elements Inc., was scaled to 10 used multilayered pouch cells in each batch of distillation and systematically separated and identified the electrolyte components of the used cells with FTIR and NMR studies. We were able to recovery 10g of solvent mass from the used pouch cells. NMR spectroscopy showed that the solvent was pure EMC, DMC and the sample was used to make a new battery cell. The end-of-life battery, it was noted that some cells were visually drier than the other cells and were more advanced in aged. In that case, even though the same distillation conditions were utilized, no usable mass of electrolyte solvent was recovered. It is expected that most of the solvent was decomposed during the battery charge-discharge cycling. The solid salt residue was separated by chemical and water treatment processes. Components of resulting solid product was analyzed by XRD and XPS measurements. The solid products are very much related to the salts used in the electrolyte solution.

25 ENERGY STORAGE↗

Liquid Crystals

Thermochromic liquid crystals, or TLCs, are a type of liquid crystals that react to changes in temperature by changing color. The Hallcrest/NASA collaboration involved development of a new way to visualize boundary layer transition in flight and in wind tunnel testing of aircraft wing and body surfaces. TLCs offered a new and potentially better method of visualizing the boundary layer transition in flight. Hallcrest provided a liquid crystal formulation technique that afforded great control over the sensitivity of the liquid crystals to varying conditions. Method is of great use to industry, government and universities for aerodynamic and hydrodynamic testing. Company's principal line is temperature indicating devices for industrial use, such as non-destructive testing and flaw detection in electric/electronic systems, medical application, such as diagnostic systems, for retail sale, such as room, refrigerator, baby bath and aquarium thermometers, and for advertising and promotion specials. Additionally, Hallcrest manufactures TLC mixtures for cosmetic applications, and liquid crystal battery tester for Duracell batteries.

Source record↗

Quantitative computer representation of propellant processing

With the technology currently available for the manufacture of propellants, it is possible to control the variance of the total specific impulse obtained from the rocket boosters to within approximately five percent. Though at first inspection this may appear to be a reasonable amount of control, when it is considered that any uncertainty in the total kinetic energy delivered to the spacecraft translates into a design with less total usable payload, even this degree of uncertainty becomes unacceptable. There is strong motivation to control the variance in the specific impulse of the shuttle's solid boosters. Any small gains in the predictability and reliability of the booster would lead to a very substantial payoff in earth-to-orbit payload. The purpose of this study is to examine one aspect of the manufacture of solid propellants, namely, the mixing process. The traditional approach of computational fluid mechanics is notoriously complex and time consuming. Certain simplifications are made, yet certain fundamental aspects of the mixing process are investigated as a whole. It is possible to consider a mixing process in a mathematical sense as an operator, F, which maps a domain back upon itself. An operator which demonstrates good mixing should be able to spread any subset of the domain completely and evenly throughout the whole domain by successive applications of the mixing operator, F. Two and three dimensional models are developed and graphical visualization two and three dimensional mixing processes are presented.

Hicks, M. D.↗

Geographical Database Integrity Validation

Airport Safety Modeling Data (ASMD) was developed at the request of a 1997 White House Conference on Aviation Safety and Security. Politicians, military personnel, commercial aircraft manufacturers and the airline industry attended the conference. The objective of the conference was to study the airline industry and make recommendations to improve safety and security. One of the topics discussed at the conference was the loss of situational awareness by aircraft pilots. Loss of situational awareness occurs when a pilot loses his geographic position during flight and can result in crashes into terrain and obstacles. It was recognized at the conference that aviation safety could be improved by reducing the loss of situational awareness. The conference advised that a system be placed in the airplane cockpit that would provide pilots with a visual representation of the terrain around airports. The system would prevent airline crashes during times of inclement weather and loss of situational awareness. The system must be based on accurate data that represents terrain around airports. The Department of Defense and the National Imagery and Mapping Agency (NIMA) released ASMD to be used for the development of a visual system for aircraft pilots. ASMD was constructed from NIMA digital terrain elevation data (DTED).

Jacobs, Derya↗

Current State of NASA Continuously Rotating Detonation Cycle Engine Development

NASA is currently investigating continuous detonation cycle engines for the application of lander and interplanetary space exploration missions. The performance benefits of a detonation cycle engine may allow for a broader design trade space and more compact geometry required for future missions to the Moon and onwards towards Mars. However, the technology readiness level (TRL) within the US was found to be low with several major risk factors that require understanding prior to full engine system development. One area of uncertainty is the extreme heat loads expected during thermal steady state conditions. To achieve this, an announcement for collaborative opportunity (ACO) partnership between IN Space LLC and NASA Marshall Space Flight Center (MSFC) was established to explore integration of additive manufacturing (AM) processes and the high conductance copper-based alloys, GRCop-42 and GRCop-84. This work outlines the hot fire testing of a 7K lbf thrust class fully AM GRCop-alloy rotating detonation rocket engine (RDRE). Two annular thrust chamber configurations emulating a lander engine system were tested with LOx/GH2 and LOx/LCH4. In both configurations, select hardware was actively cooled using de-ionized water and regeneratively cooled using LCH4. All primary hardware survived long duration tests to thermal steady state up to 133 seconds in a single burn. In total, 18 starts and 802 seconds of duration were achieved with and without visual confirmation of waves present. The proportion of burned propellant, or level of complete combustion, was found to be high compared to the theoretically achievable mean chamber pressure in all cases.

Thomas Teasley↗

Damage Proxy Map from Interferometric Synthetic Aperture Radar Coherence

A method, apparatus, and article of manufacture provide the ability to generate a damage proxy map. A master coherence map and a slave coherence map, for an area prior and subsequent to (including) a damage event are obtained. The slave coherence map is registered to the master coherence map. Pixel values of the slave coherence map are modified using histogram matching to provide a first histogram of the master coherence map that exactly matches a second histogram of the slave coherence map. A coherence difference between the slave coherence map and the master coherence map is computed to produce a damage proxy map. The damage proxy map is displayed with the coherence difference displayed in a visually distinguishable manner.

Yun, Sang-Ho↗

Fused filament fabrication of thermoplastic polyurethane composites with microencapsulated phase-change material

Here, the present study examines the thermal energy storage (TES) effectiveness and printability of microencapsulated phase-change material (MEPCM) combined with thermoplastic polyurethane (TPU) for fused filament fabrication (FFF). Two formulations were assessed: 24D MEPCM, which changes phase at 24 ° C, compounded with TPU pellets and 43D MEPCM, which changes phase at 43 ° C, integrated with TPU powder. These combinations are designed to evaluate the effectiveness of the form of the TPU (pellets versus powder) in the FFF process. The investigation includes a comprehensive analysis of thermal characteristics, encompassing phase-change temperature, latent heat of fusion, thermal conductivity, and thermal decomposition, which are assessed through differential scanning calorimetry (DSC) and thermogravimetric analysis (TGA). Additionally, mechanical properties, including stress-strain behavior, are examined to evaluate material suitability for TES applications, while microstructural visualization is used to provide deeper insights into material performance, structural integrity, and the quality of printed components. The 24D MEPCM and TPU pellets formulation experienced a significant loss of approximately 39.6% of PCM during filament extrusion and printing, resulting in a reduced effective latent heat. Therefore, further characterization of the pellet formulation was discontinued due to excessive leakage. In contrast, the 43D MEPCM and TPU powder formulation demonstrated minimal PCM loss, with the 60 wt.% composition achieving an effective latent heat of 132 J/g. This value represents the highest effective latent heat currently documented in the literature for PCM-polymer-composite materials produced using an FFF-based additive manufacturing process.

25 ENERGY STORAGE↗

The Effect of Radiation on Selected Photographic Film

We conducted this film test to evaluate several manufacturers' photographic films for their ability to acquire imagery on the International Space Station. We selected 25 motion picture, photographic slide, and negative films from three different film manufacturers. We based this selection on the fact that their films ranked highest in other similar film tests, and on their general acceptance by the international community. This test differed from previous tests because the entire evaluation process leading up to the final selection was based on information derived after the original flight film was scanned to a digital file. Previously conducted tests were evaluated entirely based on 8 x 10s that were produced from the film either directly or through the internegative process. This new evaluation procedure provided accurate quantitative data on granularity and contrast from the digital data. This test did not try to define which film was best visually. This is too often based on personal preference. However, the test results did group the films by good, marginal, and unacceptable. We developed, and included in this report, a template containing quantitative, graphical, and visual information for each film. These templates should be sufficient for comparing the different films tested and subsequently selecting a film or films to be used for experiments and general documentation on the International Space Station.

Slater, Richard↗

Nylon and teflon scribe effect on NBR to Chemlok 233 and NBR to NBR bond interfaces

A study was requested by Manufacturing Engineering to determine what effects marking with nylon (6/6) and Teflon scribes may have on subsequent bonding. Witness panel bond specimens were fabricated by the development lab to test both acrylonitrile butadiene rubber (NBR) to Chemlok and NBR to NBR after controlled exposure. The nylon rod used as a scribe tool demonstrates virtually no bond deterioration when used to scribe lines on either the Chemlok to NBR surfaces or the NBR to NBR interface. Lab test results indicate that the nylon rod-exposed samples produce tensile and peel values very similar to the control samples and the Teflon exposed samples produce tensile and peel values much lower than the control samples. Visual observation of the failure surfaces of the tested samples shows that Teflon scribing produces an obvious contamination to the surface and the nylon produces no effect. Photographs of test samples are provided. It is concluded that Teflon stock used as a scribe tool on a Chemlok 233 to NBR surface or an NBR to NBR surface has a detrimental effect on the bond integrity on either of these bond interfaces. Therefore, it is recommended that the nylon rod continue to be used where a scribe line is required in the redesigned solid rocket motor segment insulation layup operations. The use of Teflon scribes should not be considered.

Jensen, S. K.↗

Wind Tunnel Test of A Scale Model of A Venus Probe to Determine Aeroacoustics Environment

The Zephyr probe for NASA’s DAVINCI project is being designed to fly to Venus and collect measurements to characterize the Venusian atmosphere while it descends towards the surface. Despite a slow descent speed as the probe approaches the surface, the very dense atmosphere means the vibro-acoustic environment that the probe must withstand could be very harsh. A wind tunnel test campaign was conducted to characterize the surface-pressure fluctuations (acoustics) on the external surface of the probe during the descent. The goal was to provide forcing functions for vibro-acoustic analysis of all instruments inside the probe. A 25% scale-model of the Zephyr probe was manufactured, instrumented with 18 microphones, and tested in two wind tunnels located in the Fluid Mechanics Lab at NASA Ames Research Center at velocities ranging from 13 m/s to 48 m/s. Trip strips were added to the model to ensure a turbulent boundary layer on the model. Microphones were located appropriately to provide spectra of pressure fluctuations in regions with different flow characteristics as well as for calculating various two-point statistics. The acoustic spectra measured in the wind tunnel tests were scaled up to flight-scale using the estimated flight trajectory information. Besides fluctuating surface-pressure measurements, hot-film velocity measurements as well as smoke-laser flow visualization were conducted to better understand the flow around the probe. Lastly, several different geometry configurations were tested to see whether any reduction in acoustic levels could be achieved, but none of the configurations that were tested offered significant improvements. The flow visualization showed 3 primary flow regimes on the model: an attached turbulent boundary layer on the front of the model, a region of separated flow upstream of the flared lip, and a large, separated wake at the rear of the model. The acoustic spectra generally show three different shapes corresponding to these flow regions, with the highest levels seen at the rear of the model, and directly in front of the drag plate. The scaled overall levels of pressure fluctuations were found to be high: in the range of 130dB to 155dB.

planetary probe↗

Damage Detection Response Characteristics of Open Circuit Resonant (SansEC) Sensors

The capability to assess the current or future state of the health of an aircraft to improve safety, availability, and reliability while reducing maintenance costs has been a continuous goal for decades. Many companies, commercial entities, and academic institutions have become interested in Integrated Vehicle Health Management (IVHM) and a growing effort of research into "smart" vehicle sensing systems has emerged. Methods to detect damage to aircraft materials and structures have historically relied on visual inspection during pre-flight or post-flight operations by flight and ground crews. More quantitative non-destructive investigations with various instruments and sensors have traditionally been performed when the aircraft is out of operational service during major scheduled maintenance. Through the use of reliable sensors coupled with data monitoring, data mining, and data analysis techniques, the health state of a vehicle can be detected in-situ. NASA Langley Research Center (LaRC) is developing a composite aircraft skin damage detection method and system based on open circuit SansEC (Sans Electric Connection) sensor technology. Composite materials are increasingly used in modern aircraft for reducing weight, improving fuel efficiency, and enhancing the overall design, performance, and manufacturability of airborne vehicles. Materials such as fiberglass reinforced composites (FRC) and carbon-fiber-reinforced polymers (CFRP) are being used to great advantage in airframes, wings, engine nacelles, turbine blades, fairings, fuselage structures, empennage structures, control surfaces and aircraft skins. SansEC sensor technology is a new technical framework for designing, powering, and interrogating sensors to detect various types of damage in composite materials. The source cause of the in-service damage (lightning strike, impact damage, material fatigue, etc.) to the aircraft composite is not relevant. The sensor will detect damage independent of the cause. Damage in composite material is generally associated with a localized change in material permittivity and/or conductivity. These changes are sensed using SansEC. The unique electrical signatures (amplitude, frequency, bandwidth, and phase) are used for damage detection and diagnosis. An operational system and method would incorporate a SansEC sensor array on select areas of the aircraft exterior surfaces to form a "Smart skin" sensing surface. In this paper a new method and system for aircraft in-situ damage detection and diagnosis is presented. Experimental test results on seeded fault damage coupons and computational modeling simulation results are presented. NASA LaRC has demonstrated with individual sensors that SansEC sensors can be effectively used for in-situ composite damage detection of delamination, voids, fractures, and rips. Keywords: Damage Detection, Composites, Integrated Vehicle Health Monitoring (IVHM), Aviation Safety, SansEC Sensors

Dudley, Kenneth L.↗

Advanced Manufacturing Techniques Demonstrated for Fabricating Developmental Hardware

NASA Glenn Research Center's Engineering Development Division has been working in support of innovative gas turbine engine systems under development by Glenn's Combustion Branch. These one-of-a-kind components require operation under extreme conditions. High-temperature ceramics were chosen for fabrication was because of the hostile operating environment. During the designing process, it became apparent that traditional machining techniques would not be adequate to produce the small, intricate features for the conceptual design, which was to be produced by stacking over a dozen thin layers with many small features that would then be aligned and bonded together into a one-piece unit. Instead of using traditional machining, we produced computer models in Pro/ENGINEER (Parametric Technology Corporation (PTC), Needham, MA) to the specifications of the research engineer. The computer models were exported in stereolithography standard (STL) format and used to produce full-size rapid prototype polymer models. These semi-opaque plastic models were used for visualization and design verification. The computer models also were exported in International Graphics Exchange Specification (IGES) format and sent to Glenn's Thermal/Fluids Design & Analysis Branch and Applied Structural Mechanics Branch for profiling heat transfer and mechanical strength analysis.

Redding, Chip↗

Defect Detection Model Development for Large Scale Thermoplastic Printing

Large-format additive manufacturing (LFAM) offers several advantages, including high throughput, cost-effective pellet-fed extrusion, and the capability to produce large-scale structures. The main pain points of LFAM include start and stops during the printing process, warpage, long layer times that lead to bead freezing, and bead separation due to shrinkage. These issues can lead to overfill, underfill and buildup of material in different sections of a print. This can lead to hidden defects embedded within the printed layers, or even ultimate failure of the printed structure. This ensures these defects can only be identified through nondestructive testing (NDT) inspection methods after printing, which can be timely and costly. Aligned Vision work specializes in 2D projectors with visual inspection systems and machine learning. Traditionally system is used for composite layup and layup inspections. In this work we used the LFAM system at Oak Ridge National Laboratory to create defect rich samples. The Aligned Vision inspection system then performed in-situ monitoring of the print process after each part was printed. This in-situ vision inspection system was used to develop a layer-by-layer inspection model that looks for overfill, underfill, and the buildup of defects using only a camera-based vision system. This leads to the assurance of high-quality production components.

36 MATERIALS SCIENCE↗

Automated Eddy Current Inspection on Space Shuttle Hardware

Over the life time of the Space Shuttle program, metal parts used for the Reusable Solid Rocket Motors (RSRMs) have been nondestructively inspected for cracks and surface breaking discontinuities using magnetic particle (steel) and penetrant methods. Although these inspections adequately screened for critical sized cracks in most regions of the hardware, it became apparent after detection of several sub-critical flaws that the processes were very dependent on operator attentiveness and training. Throughout the 1990's, eddy current inspections were added to areas that had either limited visual access or were more fracture critical. In the late 1990's. a project was initiated to upgrade NDE inspections with the overall objective of improving inspection reliability and control. An automated eddy current inspection system was installed in 2001. A figure shows one of the inspection bays with the robotic axis of the system highlighted. The system was programmed to inspect the various case, nozzle, and igniter metal components that make up an RSRM. both steel and aluminum. For the past few years, the automated inspection system has been a part of the baseline inspection process for steel components. Although the majority of the RSRM metal part inventory ts free of detectable surface flaws, a few small, sub-critical manufacturing defects have been detected with the automated system. This paper will summarize the benefits that have been realized with the current automated eddy current system, as well as the flaws that have been detected.

Hartmann, John↗

Metallography of Battery Resistance Spot Welds

Li-ion cells provide an energy dense solution for systems that require rechargeable electrical power. However, these cells can undergo thermal runaway, the point at which the cell becomes thermally unstable and results in hot gas, flame, electrolyte leakage, and in some cases explosion. The heat and fire associated with this type of event is generally violent and can subsequently cause damage to the surrounding system or present a dangerous risk to the personnel nearby. The space flight environment is especially sensitive to risks particularly when it involves potential for fire within the habitable volume of the International Space Station (ISS). In larger battery packs such as Robonaut 2 (R2), numerous Li-ion cells are placed in parallel-series configurations to obtain the required stack voltage and desired run-time or to meet specific power requirements. This raises a second and less obvious concern for batteries that undergo certification for space flight use: the joining quality at the resistance spot weld of battery cells to component wires/leads and battery tabs, bus bars or other electronic components and assemblies. Resistance spot welds undergo materials evaluation, visual inspection, conductivity (resistivity) testing, destructive peel testing, and metallurgical examination in accordance with applicable NASA Process Specifications. Welded components are cross-sectioned to ensure they are free of cracks or voids open to any exterior surface. Pore and voids contained within the weld zone but not open to an exterior surface, and are not determined to have sharp notch like characteristics, shall be acceptable. Depending on requirements, some battery cells are constructed of aluminum canisters while others are constructed of steel. Process specific weld schedules must be developed and certified for each possible joining combination. The aluminum canisters' positive terminals were particularly difficult to weld due to a bi-metal strip that comes ultrasonically pre-welded by the manufacturer. This was further complicated as the maximum electrode force was limited to low-electrode force to prevent deflection of the aluminum can during welding. Other Li-ion cells are comprised of smaller diameter cylindrical steel canisters which are inherently capable of handling greater force from the electrodes. Allowing higher-electrode forces aids greatly in insuring a consistent resistance network for the weld. Overall lessons learned: developing good jigs is critical to insure the parts and electrodes are planer to one another and the location of the weld sites remains accurate and repeatable; maintaining strict control over materials is critical--materials must be of a specific hardness and chemical composition to insure that a weld schedule is repeatable; accuracy of the die used to stamp the projections is critical and worth the investment; and proper seasoning of the electrodes is critical to producing consistent welds--once the electrodes have been properly seasoned, cleaning/dressing should be avoided until it is absolutely necessary.

Martinez, J. E.↗

Mapping Support for Targeted Critical Minerals Exploration and Extraction

The United States’ dependency on imported minerals poses significant risks to economic stability and national security due to potential supply disruptions. Recognizing the strategic importance of critical minerals, the Department of Energy (DOE) emphasizes the need for a secure and resilient supply chain to support emissions reduction, technology development, and capitalization on clean energy opportunities. The DOE’s Office of Manufacturing and Energy Supply Chains (MESC), in collaboration with the Office of Policy (OP), addresses these vulnerabilities by focusing on upstream domestic critical minerals production, balancing extraction with social and environmental goals, including conservation, environmental justice, and respect for Tribal sovereignty. This report showcases a collaborative effort involving Idaho National Laboratory (INL), Argonne National Laboratory (Argonne), National Renewable Energy Laboratory (NREL), and the U.S. Geological Survey (USGS) to map mineral development potential along with key social and environmental datasets. A geographical information system (GIS)-based web map application was developed as a preliminary tool for environmental analysis, integrating 158 geospatial data layers such as critical habitat, land ownership, economic indicators, and environmental concerns. Data were sourced from agencies like the Bureau of Land Management (BLM) and USGS and processed using GIS technology to enhance visualization and analysis. The proposed analysis framework categorizes areas into high, mid, and low concern based on withdrawn lands, special status species, the Economic Development Capacity Index (EDCI) Mining Composite Index, and the Climate and Economic Justice Screening Tool (CEJST). While the application provides broad visualizations, it is not a substitute for detailed environmental reviews required under the National Environmental Policy Act (NEPA). Users must conduct further analyses and engage with tribal entities and other stakeholders for comprehensive planning. A case study of the Idaho Cobalt Belt (ICB) in Lemhi County, Idaho, has been provided in the report to illustrate the tool's practical use. This report introduces a GIS application and framework to support stakeholders in identifying and prioritizing areas for critical mineral exploration, promoting secure supply chains, and advancing the nation's energy independence through responsible resource stewardship.

54 ENVIRONMENTAL SCIENCES↗