Search NASA⌕ Search

SEARCH · Search NASA

Results for “Systems Engineering and Program Integration”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 487 records · Page 27

Hyper-X Engine Design and Ground Test Program

The Hyper-X Program, NASA's focused hypersonic technology program jointly run by NASA Langley and Dryden, is designed to move hypersonic, air-breathing vehicle technology from the laboratory environment to the flight environment, the last stage preceding prototype development. The Hyper-X research vehicle will provide the first ever opportunity to obtain data on an airframe integrated supersonic combustion ramjet propulsion system in flight, providing the first flight validation of wind tunnel, numerical and analytical methods used for design of these vehicles. A substantial portion of the integrated vehicle/engine flowpath development, engine systems verification and validation and flight test risk reduction efforts are experimentally based, including vehicle aeropropulsive force and moment database generation for flight control law development, and integrated vehicle/engine performance validation. The Mach 7 engine flowpath development tests have been completed, and effort is now shifting to engine controls, systems and performance verification and validation tests, as well as, additional flight test risk reduction tests. The engine wind tunnel tests required for these efforts range from tests of partial width engines in both small and large scramjet test facilities, to tests of the full flight engine on a vehicle simulator and tests of a complete flight vehicle in the Langley 8-Ft. High Temperature Tunnel. These tests will begin in the summer of 1998 and continue through 1999. The first flight test is planned for early 2000.

Voland, R. T.↗

Incorporating Speech Recognition into a Natural User Interface

The Augmented/ Virtual Reality (AVR) Lab has been working to study the applicability of recent virtual and augmented reality hardware and software to KSC operations. This includes the Oculus Rift, HTC Vive, Microsoft HoloLens, and Unity game engine. My project in this lab is to integrate voice recognition and voice commands into an easy to modify system that can be added to an existing portion of a Natural User Interface (NUI). A NUI is an intuitive and simple to use interface incorporating visual, touch, and speech recognition. The inclusion of speech recognition capability will allow users to perform actions or make inquiries using only their voice. The simplicity of needing only to speak to control an on-screen object or enact some digital action means that any user can quickly become accustomed to using this system. Multiple programs were tested for use in a speech command and recognition system. Sphinx4 translates speech to text using a Hidden Markov Model (HMM) based Language Model, an Acoustic Model, and a word Dictionary running on Java. PocketSphinx had similar functionality to Sphinx4 but instead ran on C. However, neither of these programs were ideal as building a Java or C wrapper slowed performance. The most ideal speech recognition system tested was the Unity Engine Grammar Recognizer. A Context Free Grammar (CFG) structure is written in an XML file to specify the structure of phrases and words that will be recognized by Unity Grammar Recognizer. Using Speech Recognition Grammar Specification (SRGS) 1.0 makes modifying the recognized combinations of words and phrases very simple and quick to do. With SRGS 1.0, semantic information can also be added to the XML file, which allows for even more control over how spoken words and phrases are interpreted by Unity. Additionally, using a CFG with SRGS 1.0 produces a Finite State Machine (FSM) functionality limiting the potential for incorrectly heard words or phrases. The purpose of my project was to investigate options for a Speech Recognition System. To that end I attempted to integrate Sphinx4 into a user interface. Sphinx4 had great accuracy and is the only free program able to perform offline speech dictation. However it had a limited dictionary of words that could be recognized, single syllable words were almost impossible for it to hear, and since it ran on Java it could not be integrated into the Unity based NUI. PocketSphinx ran much faster than Sphinx4 which would've made it ideal as a plugin to the Unity NUI, unfortunately creating a C# wrapper for the C code made the program unusable with Unity due to the wrapper slowing code execution and class files becoming unreachable. Unity Grammar Recognizer is the ideal speech recognition interface, it is flexible in recognizing multiple variations of the same command. It is also the most accurate program in recognizing speech due to using an XML grammar to specify speech structure instead of relying solely on a Dictionary and Language model. The Unity Grammar Recognizer will be used with the NUI for these reasons as well as being written in C# which further simplifies the incorporation.

Chapa, Nicholas↗

Shuttle Program Loads Integration: Going From Concept to Operations and Staying Successful

From the beginning of the Shuttle Program to its end, integrated loads and dynamics analyses and tests have been critical in shaping the vehicle design and operational decisions for NASA and its customers. Starting with scaled models and simple mathematical simulations of the structural dynamics, engineers defined the required structural stiffness and predicted the limit loads for each element of the system. Early structural tests provided reasonable confidence that the models and predictions were good. The first launch of the Space Shuttle brought surprises, though, when the ignition overpressure event caused a forward fuel tank support strut to buckle, among several unexpected effects. The launch pad and other ground equipment became an integral part of the system integration, especially where the acoustic and pressure environments of ignition and lift-off were concerned. Following the Challenger accident, operating limits were changed in response to new understandings of how the integrated system performed. Controlling loads while maximizing performance was a key tenet of the Performance Enhancement design process, which enabled construction of the International Space Station. During the return to flight after the Columbia accident, engineers grew to understand that loads during the roll maneuver were also important to the vehicle s structural margin and life. At this point the crawler transport from the Vehicle Assembly Building to the launch pad also became a part of the integrated loads analysis. Even in the last years of the Space Shuttle Program, new data still provided interesting insights into this complicated and fascinating spaceship. This paper will present some examples of the important findings by the team of specialists that supported the Integrated Loads and Dynamics Panel for the Space Shuttle Program.

Bernstein, Karen↗

Towards an Automated Full-Turbofan Engine Numerical Simulation

The objective of this study was to demonstrate the high-fidelity numerical simulation of a modern high-bypass turbofan engine. The simulation utilizes the Numerical Propulsion System Simulation (NPSS) thermodynamic cycle modeling system coupled to a high-fidelity full-engine model represented by a set of coupled three-dimensional computational fluid dynamic (CFD) component models. Boundary conditions from the balanced, steady-state cycle model are used to define component boundary conditions in the full-engine model. Operating characteristics of the three-dimensional component models are integrated into the cycle model via partial performance maps generated automatically from the CFD flow solutions using one-dimensional meanline turbomachinery programs. This paper reports on the progress made towards the full-engine simulation of the GE90-94B engine, highlighting the generation of the high-pressure compressor partial performance map. The ongoing work will provide a system to evaluate the steady and unsteady aerodynamic and mechanical interactions between engine components at design and off-design operating conditions.

Reed, John A.↗

Optical Diagnostic System for Solar Sails: Phase 1 Final Report

NASA's In-Space Propulsion program recently selected AEC-ABLE Engineering and L'Garde, Inc. to develop scale-model solar sail hardware and demonstrate its functionality on the ground. Both are square sail designs with lightweight diagonal booms (<100 g/m) and ultra-thin membranes (<10 g/sq m). To support this technology, the authors are developing an integrated diagnostics instrumentation package for monitoring solar sail structures such as these in a near-term flight experiment. We refer to this activity as the "Optical Diagnostic System (ODS) for Solar Sails" project. The approach uses lightweight optics and photogrammetric techniques to measure solar sail membrane and boom shape and dynamics, thermography to map temperature, and non-optical sensors including MEMS accelerometers and load cells. The diagnostics package must measure key structural characteristics including deployment dynamics, sail support tension, boom and sail deflection, boom and sail natural frequencies, sail temperature, and sail integrity. This report summarizes work in the initial 6-month Phase I period (conceptual design phase) and complements the final presentation given in Huntsville, AL on January 14, 2004.

Pappa, Richard S.↗

Research and development activities in unified control-structure modeling and design

Results of work sponsored by JPL and other organizations to develop a unified control/structures modeling and design capability for large space structures is presented. Recent analytical results are presented to demonstrate the significant interdependence between structural and control properties. A new design methodology is suggested in which the structure, material properties, dynamic model and control design are all optimized simultaneously. The development of a methodology for global design optimization is recommended as a long term goal. It is suggested that this methodology should be incorporated into computer aided engineering programs, which eventually will be supplemented by an expert system to aid design optimization. Recommendations are also presented for near term research activities at JPL. The key recommendation is to continue the development of integrated dynamic modeling/control design techniques, with special attention given to the development of structural models specially tailored to support design.

Nayak, A. P.↗

DEAN - A program for Dynamic Engine ANalysis

The Dynamic Engine Analysis Program, DEAN, is a FORTRAN code implemented on the IBM/370 mainframe at NASA Lewis Research Center for digital simulation of turbofan engine dynamics. DEAN is an interactive program which allows the user to simulate engine subsystems as well as full engine systems with relative ease. The nonlinear first order ordinary differential equations which define the engine model may be solved by one of four integration schemes, a second order Runge-Kutta, a fourth order Runge-Kutta, an Adams Predictor-Corrector, or Gear's method for still systems. The numerical data generated by the model equations are displayed a specified intervals between which the user may choose to modify various parameters affecting the model equations and transient execution. Following the transient run, versatile graphics capabilities allow close examination of the data. DEAN's modeling procedure and capabilities are demonstrated by generating a model of simple compressor rig.

Sadler, G. G.↗

Designing for Maintainability and System Availability

The final goal for a delivered system (whether a car, aircraft, avionics box or computer) should be its availability to operate and perform its intended function over its expected design life. Hence, in designing a system, we cannot think in terms of delivering the system and just walking away. The system supplier needs to provide support throughout the operating life of the product. Here, supportability requires an effective combination of reliability, maintainability, logistics and operations engineering (as well as safety engineering) to have a system that is available for its intended use throughout its designated mission lifetime. Maintainability is a key driving element in the effective support and upkeep of the system as well as providing the ability to modify and upgrade the system throughout its lifetime. This paper then, will concentrate on maintainability and its integration into the system engineering and design process. The topics to be covered include elements of maintainability, the total cost of ownership, how system availability, maintenance and logistics costs and spare parts cost effect the overall program costs. System analysis and maintainability will show how maintainability fits into the overall systems approach to project development. Maintainability processes and documents will focus on how maintainability is to be performed and what documents are typically generated for a large scale program. Maintainability analysis shows how trade-offs can be performed for various alternative components. The conclusions summarize the paper and are followed by specific problems for hands-on training.

Lalli, Vincent R.↗

Application of Agile for Systems Engineering, Project Management and Modeling and Lessons Learned

The Systems Engineering team within the Human Research Program (HRP) Exploration Medical Capability (ExMC) Element has been transforming its development processes to be more efficient, robust,and responsive to change and to its stakeholders. To these ends, the Systems Engineering team trialed the integration of agile development techniques into existing and new processes. Agile development methods are well understood within the software development community. Outside ofsoftware development, however, how non-software project management (PM) and systems engineering (SE) teams implement agile development techniques is less well understood. In its transformation efforts, the ExMC SE team focused on three main areas: Improving the project communications among subsystem teams and stakeholders by adopting a scrum-like process, Changing the status and reporting mechanisms to improve schedule coordination between the subsystem team, SE leadership, and ExMC Element leadership, and Unifying the model-based SE workflow to improve understanding of Concepts of Operations across projects.This presentation highlights several of these transformations and what the SE team learned while undergoing the transformation.

S Lumpkins↗

Feasibility Study of a Rotorcraft Health and Usage Monitoring System (HUMS): Results of Operator's Evaluation

The objective was to evaluate the feasibility of a state-of-the-art health and usage monitoring system (HUMS) to provide monitoring of critical mechanical systems on the helicopter, including motors, drive train, engines, and life-limited components. The implementation of HUMS and cost integration with current maintenance procedures was assessed from the operator's viewpoint in order to achieve expected benefits from these systems, such as enhanced safety, reduced maintenance cost, and increased availability. An operational HUMS that was installed and operated under an independent flight trial program was used as a basis for this study. The HUMS equipment and software were commercially available. Based on the results of the feasibility study, the HUMS used in the flight trial program generally demonstrated a high level of reliability in monitoring the rotor system, engines, drive train, and life-limited components. The system acted as a sentinel to warn of impending failures. A worn tail rotor pitch bearing was detected by HUMS, which had the capability for self testing to diagnose system and sensor faults. Examples of potential payback to the operator with HUMS were identified, including reduced insurance cost through enhanced safety, lower operating costs derived from maintenance credits, increased aircraft availability, and improved operating efficiency. The interfacing of HUMS with current operational procedures was assessed to require only minimal revisions to the operator's maintenance manuals. Finally the success in realizing the potential benefits from HUMS technology was found to depend on the operator, helicopter manufacturer, regulator (FAA), and HUMS supplier working together.

Romero, Raylund↗

Overview of NASA Gateway Lunar Dust Mitigation and Contamination Modeling and Analysis

The planned NASA Artemis campaign has several lunar surface missions in which the NASA Gateway is the waypoint between lunar orbit and the lunar surface for Human Lander System (HLS). Each of these missions is an opportunity for lunar dust to be introduced into the Gateway environment, post surface mission, potentially causing end of life (EOL) performance degradation due to lunar dust contamination of sensitive hardware and systems on the exterior of Gateway and Visiting Vehicles. The Gateway Systems Engineering and Integration (SE&I) and Induced Environments teams are addressing the challenge of lunar dust with a two-pronged approach. Characterization of the lunar dust induced environment around Gateway and contamination risk is accomplished with a comprehensive physics-based framework, the Gateway On-orbit Lunar Dust Modeling and Analysis Program (GOLDMAP), which is currently in development. Analysis results from GOLDMAP define Gateway-level induced environments requirements and are flowed to elements and subsystems. In parallel, a dust mitigation strategy is being developed with a focus on lunar dust protection, dust mitigation technologies, mitigation and testing guidance, and cross-program coordination and is informed by outputs from GOLDMAP analyses. Activities supporting both components include hardware susceptibility assessments and testing, and scientific experiments on lunar regolith.

Gateway↗

Quiet Clean Short-haul Experimental Engine (QCSEE) composite fan frame design report

An advanced composite frame which is flight-weight and integrates the functions of several structures was developed for the over the wing (OTW) engine and for the under the wing (UTW) engine. The composite material system selected as the basic material for the frame is Type AS graphite fiber in a Hercules 3501 epoxy resin matrix. The frame was analyzed using a finite element digital computer program. This program was used in an iterative fashion to arrive at practical thicknesses and ply orientations to achieve a final design that met all strength and stiffness requirements for critical conditions. Using this information, the detail design of each of the individual parts of the frame was completed and released. On the basis of these designs, the required tooling was designed to fabricate the various component parts of the frame. To verify the structural integrity of the critical joint areas, a full-scale test was conducted on the frame before engine testing. The testing of the frame established critical spring constants and subjected the frame to three critical load cases. The successful static load test was followed by 153 and 58 hours respectively of successful running on the UTW and OTW engines.

Mitchell, S. C.↗

Engineering Internship Program Report

Towards the end of the summer, I prepared for a presentation to the chief of the Flight Crew Support Division to obtain funding for Phase 1 of the project. I presented information on the tracking systems, David Ray presented on the POGO and PABF and the integration of the virtual reality systems, and Mike Van Chau talked about other hardware issues such as head-mounted display, 3-D sound, gloves, graphics platforms, and other peripherals. The funding was approved, and work was to begin at the end of August in evaluating a couple of the tracking systems, to integrate the graphics platform and video equipment with the POGO, and to build a larger gantry for the POGO. This tour I learned how to effectively gather information and present them in a convincible form to gain funding. I explored a entirely new area of technology, that being virtual reality from the most general form down to finer details in its tracking systems. The experiences over the summer have added a lot of detail to work at the Johnson Space Center, life within NASA, and to the many possibilities for becoming involved with the space program.

Bosch, Brian Y.↗

Structural Dynamics Observations in Space Launch System Green Run Hot Fire Testing

The Space Launch System (SLS) Core Stage (CS) Thrust Vector Control (TVC) system is comprised of eight mechanical feedback Shuttle heritage Type III TVC actuators and four RS-25 engines, each attached to a Shuttle heritage gimbal block/bearing. Two actuators are used to move each engine in two planes perpendicular to one another (i.e., pitch and yaw). The TVC system design leverages hardware from the Space Shuttle program as well as new hardware designed specifically for the Core Stage. The Green Run Hot Fire (GRHF) of the SLS Core Stage provided a flight-like ground test environment for verification of integrated vehicle TVC performance. A TVC model coupled to a vehicle structural dynamic model has been developed previously and incrementally validated in subsystem tests and simulations. Still, some aspects of TVC performance in GRHF were not anticipated. The ensuing investigation demonstrated the need for well-instrumented test environments, various levels of modeling fidelity, test-representative structural models, and caution in reuse of legacy components. This paper is the sixth installment in a seven-paper series surveying the design, engineering, test validation, and flight performance of the Core Stage Thrust Vector Control system. It introduces the salient structural dynamic phenomena uncovered in ambient and hot fire testing. During the Green Run test campaign, a comparison of ambient and hot fire step responses showed a significant change in apparent damping due to the presence of friction, challenging long standing assumptions that friction could be neglected. Additionally, the characteristic response of the engine and thrust structure during GRHF proved to be more complex than anticipated, as evidenced by the available actuator, thrust structure, and engine measurements. While the string-potentiometer based test instrumentation was intended to allow for reconstruction of the engine angles along the two control axes, the geometric placement, location uncertainty, and responses in overlapping frequency spectra revealed additional phenomena requiring further analysis and post-processing. The observations from both modal and frequency response testing during the Green Run ambient and hot fire configurations led to Engine and Core Stage FEM (finite element model) updates. When evidence of unexpected engine motion was found in engine section accelerometer data, the authors pursued additional structural analysis leading to FEM updates associated with the TVC gimbal and thrust structure. Through collaboration between structures, TVC, and flight control disciplines, the test-informed models and root-cause analysis led to confident flight rationale for the first flight of the SLS launch vehicle.

Richard K. Moore↗

Structural Dynamics Observations in Space Launch System Green Run Hot Fire Testing

The Space Launch System (SLS) Core Stage (CS) Thrust Vector Control (TVC) system is comprised of eight mechanical feedback Shuttle heritage Type III TVC actuators and four RS-25 engines, each attached to a Shuttle heritage gimbal block/bearing. Two actuators are used to move each engine in two planes perpendicular to one another (i.e., pitch and yaw). The TVC system design leverages hardware from the Space Shuttle program as well as new hardware designed specifically for the Core Stage. The Green Run Hot Fire (GRHF) of the SLS Core Stage provided a flight-like ground test environment for verification of integrated vehicle TVC performance. A TVC model coupled to a vehicle structural dynamic model has been developed previously and incrementally validated in subsystem tests and simulations. Still, some aspects of TVC performance in GRHF were not anticipated. The ensuing investigation demonstrated the need for well-instrumented test environments, various levels of modeling fidelity, test-representative structural models, and caution in reuse of legacy components. This paper is the sixth installment in a seven-paper series surveying the design, engineering, test validation, and flight performance of the Core Stage Thrust Vector Control system. It introduces the salient structural dynamic phenomena uncovered in ambient and hot fire testing. During the Green Run test campaign, a comparison of ambient and hot fire step responses showed a significant change in apparent damping due to the presence of friction, challenging long standing assumptions that friction could be neglected. Additionally, the characteristic response of the engine and thrust structure during GRHF proved to be more complex than anticipated, as evidenced by the available actuator, thrust structure, and engine measurements. While the string-potentiometer based test instrumentation was intended to allow for reconstruction of the engine angles along the two control axes, the geometric placement, location uncertainty, and responses in overlapping frequency spectra revealed additional phenomena requiring further analysis and post-processing. The observations from both modal and frequency response testing during the Green Run ambient and hot fire configurations led to Engine and Core Stage FEM (finite element model) updates. When evidence of unexpected engine motion was found in engine section accelerometer data, the authors pursued additional structural analysis leading to FEM updates associated with the TVC gimbal and thrust structure. Through collaboration between structures, TVC, and flight control disciplines, the test-informed models and root-cause analysis led to confident flight rationale for the first flight of the SLS launch vehicle.

Richard Moore↗

Implementing NASA's Capability-Driven Approach: Insight into NASA's Processes for Maturing Exploration Systems

NASA is engaged in transforming human spaceflight. The Agency is shifting from an exploration-based program with human activities focused on low Earth orbit (LEO) and targeted robotic missions in deep space to a more sustainable and integrated pioneering approach. Through pioneering, NASA seeks to address national goals to develop the capacity for people to work, learn, operate, live, and thrive safely beyond the Earth for extended periods of time. However, pioneering space involves more than the daunting technical challenges of transportation, maintaining health, and enabling crew productivity for long durations in remote, hostile, and alien environments. This shift also requires a change in operating processes for NASA. The Agency can no longer afford to engineer systems for specific missions and destinations and instead must focus on common capabilities that enable a range of destinations and missions. NASA has codified a capability driven approach, which provides flexible guidance for the development and maturation of common capabilities necessary for human pioneers beyond LEO. This approach has been included in NASA policy and is captured in the Agency's strategic goals. It is currently being implemented across NASA's centers and programs. Throughout 2014, NASA engaged in an Agency-wide process to define and refine exploration-related capabilities and associated gaps, focusing only on those that are critical for human exploration beyond LEO. NASA identified 12 common capabilities ranging from Environmental Control and Life Support Systems to Robotics, and established Agency-wide teams or working groups comprised of subject matter experts that are responsible for the maturation of these exploration capabilities. These teams, called the System Maturation Teams (SMTs) help formulate, guide and resolve performance gaps associated with the identified exploration capabilities. The SMTs are defining performance parameters and goals for each of the 12 capabilities, developing maturation plans and roadmaps for the identified performance gaps, specifying the interfaces between the various capabilities, and ensuring that the capabilities mature and integrate to enable future pioneering missions. By managing system development through the SMTs instead of traditional NASA programs and projects, the Agency is shifting from mission-driven development to a more flexible, capability-driven development. The process NASA uses to establish, integrate, prioritize, and manage the SMTs and associated capabilities is iterative. NASA relies on the Human Exploration and Operation Mission Directorate's SMT Integration Team within Advanced Exploration Systems to coordinate and facilitate the SMT process. The SMT Integration team conducts regular reviews and coordination meetings among the SMTs and has developed a number of tools to help the Agency implement capability driven processes. The SMT Integration team is uniquely positioned to help the Agency coordinate the SMTs and other processes that are making the capability-driven approach a reality. This paper will introduce the SMTs and the 12 key capabilities they represent. The role of the SMTs will be discussed with respect to Agency-wide processes to shift from mission-focused exploration to a capability-driven pioneering approach. Specific examples will be given to highlight systems development and testing within the SMTs. These examples will also show how NASA is using current investments in the International Space Station and future investments to develop and demonstrate capabilities. The paper will conclude by describing next steps and a process for soliciting feedback from the space exploration community to refine NASA's process for developing common exploration capabilities.

Williams-Byrd, Julie↗

Non-Deterministic, Non-Traditional Methods (NDNTM)

The review effort identified research opportunities related to the use of nondeterministic, nontraditional methods to support aerospace design. The scope of the study was restricted to structural design rather than other areas such as control system design. Thus, the observations and conclusions are limited by that scope. The review identified a number of key results. The results include the potential for NASA/AF collaboration in the area of a design environment for advanced space access vehicles. The following key points set the context and delineate the key results. The Principal Investigator's (PI's) context for this study derived from participation as a Panel Member in the Air Force Scientific Advisory Board (AF/SAB) Summer Study Panel on 'Whither Hypersonics?' A key message from the Summer Study effort was a perceived need for a national program for a space access vehicle whose operating characteristics of cost, availability, deployability, and reliability most closely match the NASA 3rd Generation Reusable Launch Vehicle (RLV). The Panel urged the AF to make a significant joint commitment to such a program just as soon as the AF defined specific requirements for space access consistent with the AF Aerospace Vision 2020. The review brought home a concurrent need for a national vehicle design environment. Engineering design system technology is at a time point from which a revolution as significant as that brought about by the finite element method is possible, this one focusing on information integration on a scale that far surpasses current design environments. The study therefore fully supported the concept, if not some of the details of the Intelligent Synthesis Environment (ISE). It became abundantly clear during this study that the government (AF, NASA) and industry are not moving in the same direction in this regard, in fact each is moving in its own direction. NASA/ISE is not yet in an effective leadership position in this regard. However, NASA does have complementary software interoperability efforts that should be a part of any major ISE program. Software standards that assure interoperability of data systems and modeling representations are enabling for the proposed research advocated herein and should be a major element in the ISE initiative. The international standard for data interchange is known by the acronym 'STEP.' The NASA participation and lead for that effort is at the Goddard Space Flight Center. NASA/GRC is leading an effort to define CAD geometry standards through the Object Management Group (OMG). To enable the design environment so necessary to the above national vision for a unique space vehicle will require an integrating software environment with interoperability standards that allow the development and widespread deployment of tools and toolsets, rather than traditional "shrink-wrapped" software used by engineers today.

Cruse, Thomas A.↗