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All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Recent Progress in the International Laser Ranging Service (ILRS)

The International Laser Ranging Service (ILRS) provides Satellite Laser Ranging (SLR) and Lunar Laser Ranging (LLR) observations and data products with a focus on Earth and Lunar science and engineering applications. The basic observables are the precise two-way time-of-flight of ultra-short laser pulses from ground stations to retroreflector arrays on satellites and the Moon and the one-way time-of-flight measurements to space-borne receivers (transponders). SLR is one of the four space geodetic techniques (along with VLBI, GNSS, and DORIS). The International Terrestrial Reference Frame (ITRF) development, maintained by IERS, is based on these geodetic observations. Fundamental data products include accurate satellite ephemerides, Earth orientation parameters, three dimensional coordinates and velocities of the ILRS tracking stations, time-varying geocenter coordinates, static and time-varying coefficients of the Earth’s gravity field, fundamental physical constants, lunar ephemerides and librations, and lunar orientation parameters. The ILRS continues to expand spatial and temporal coverage of SLR observations. New stations with new technologies are being deployed; existing stations are being upgraded. Some of these stations are multi-technique Core Sites. New satellites are expanding applications and strengthening the ILRS contribution to the reference frame. New analysis, modeling, and data processing techniques are improving data products. New campaigns are expanding our applications into relativity and the study of non-gravitational forces. New activities are underway on Lunar Laser Ranging, Time Transfer, and Space Debris Tracking, helping to expand laser ranging applications. This talk will give an update on the current ILRS activities and their impact on ILRS data products.

Report on the ILRS activities↗
DOE OSTI2020

Annual Scientific Focus Area Report for the Energy Exascale Earth System Model Project: Phase II

The project's long-term goal is to assert and maintain an international scientific leadership position in the development of Earth system models that address the grand challenge of actionable predictions of Earth system variability and change, with an emphasis on the most critical scientific questions facing the nation and DOE. The grand challenge will be addressed by overcoming three major limitations: Pushing the high-resolution frontier of Earth system modeling through a combination of strategic model development and computational advances targeting exascale computers and beyond. Bridging the gap in scales and processes by developing a new class of models that couple the natural, managed, and man-made systems across scales to address energy sector vulnerability to variability and change. The project will achieve its goal through four intersecting project elements: A series of prediction and simulation experiments addressing scientific questions and mission needs; A well-documented and tested, continuously advancing, evolving, and improving system of model codes that comprise the E3SM Earth system model; The ability to use effectively leading (and “bleeding”) edge computational facilities soon after their deployment at DOE national laboratories; and An infrastructure to support code development, hypothesis testing, simulation execution, and analysis of results. To achieve the Grand Challenge of actionable Earth system predictions to address the most critical scientific questions facing our nation and DOE, the E3SM project defined its strategy in a fifteen-year roadmap with four intersecting project elements: A series of prediction and simulation experiments addressing scientific questions and mission needs; A well-documented and tested, continuously advancing, evolving, and improving system of model codes that comprise the E3SM Earth system model ; The ability to use effectively leading (and “bleeding”) edge computational facilities soon after their deployment at DOE national laboratories; and An infrastructure to support code development, hypothesis testing, simulation execution, and analysis of results. Figure 1 depicts the E3SM Project Roadmap, showing the relationships among the first three major project elements: the simulations, the modeling system to perform those simulations, and the machines on which they will be executed. Unlike the other three elements that have distinct but overlapping phases, the fourth element, the infrastructure, will evolve continuously based on the requirements imposed by project needs.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2017

Velocity and Turbulence Measurements at Three Locations in the Salish Sea, WA, 2017

This submission contains raw and processed datasets of water velocity and turbulence measurements from 3-day deployments of Deepwater Buoyancy StableMoor buoys carrying acoustic Doppler instrumentation at locations in Rosario Strait, Bellingham Channel, and Tacoma Narrows, WA in 2017. Two StableMoor buoy configurations were used at these sites. The StableMoor500 carried a nose-mounted acoustic doppler velocimeter (ADV) and a down-looking acoustic doppler current profiler (ADCP), and the StableMoor400 carried dual wing-mounted ADVs located on either side of the nose and a down-looking ADCP. Each StableMoor was designed to fly at an altitude of 10 m above the seafloor. The StableMoor500 was deployed in Bellingham Channel at 48.5601 N, 122.7501 W in 86 m of water from July 24, 2017 - July 27, 2017. The down-looking ADCP malfunctioned, and therefore there is no ADCP data at this site. The StableMoor400 was deployed in Rosario Strait mooring at 48.5800 N, 122.6597 W in 52 m of water from July 24, 2017 - July 27, 2017. Both buoys were deployed in Tacoma Narrows at 47.2766 N, 122.5466 W and 47.2769 N, 122.5471 W in 36 m of water from Nov 14, 2017 - Nov 17, 2017. Nortek Vector ADV measurements were recorded continuously at 16 Hz. Data was motion-corrected using the internal measurement unit (IMU) and external ADCP bottom-track data, bin-averaged into 10 minute bins, and then converted to the Principal (streamwise, cross-stream, vertical) coordinate system. Parameters include water velocity, turbulence intensity, turbulent kinetic energy (TKE) components, Reynolds shear stress components, TKE dissipation and production. Teledyne RDI Workhorse 1200 kHz ADCP measurements were recorded continuously at 2 Hz with bottom-track enabled. Water velocity was averaged into 10 minute bins and converted into the Principal coordinate system. One ADV with the highest quality motion-corrected was fully processed from each deployment site: the nose-mounted ADV at Bellingham Channel, the starboard-wing mounted ADV at Rosario Strait, and the port-wing mounted ADV at Tacoma Narrows. Raw data stored in this submission can be read using DOLfYN v1.3.1, available through the MHKiT python package, and was processed using Tsdat v0.7.5. Processed data are stored in netCDF4 format and can be easily viewed using the Linux "ncdump" command or read through the Xarray python package.

16 TIDAL AND WAVE POWER↗
NASA NTRS2008

Hail Disrometer Array for Launch Systems Support

Prior to launch, the space shuttle might be described as a very large thermos bottle containing substantial quantities of cryogenic fuels. Because thermal insulation is a critical design requirement, the external wall of the launch vehicle fuel tank is covered with an insulating foam layer. This foam is fragile and can be damaged by very minor impacts, such as that from small- to medium-size hail, which may go unnoticed. In May 1999, hail damage to the top of the External Tank (ET) of STS-96 required a rollback from the launch pad to the Vehicle Assembly Building (VAB) for repair of the insulating foam. Because of the potential for hail damage to the ET while exposed to the weather, a vigilant hail sentry system using impact transducers was developed as a hail damage warning system and to record and quantify hail events. The Kennedy Space Center (KSC) Hail Monitor System, a joint effort of the NASA and University Affiliated Spaceport Technology Development Contract (USTDC) Physics Labs, was first deployed for operational testing in the fall of 2006. Volunteers from the Community Collaborative Rain. Hail, and Snow Network (CoCoRaHS) in conjunction with Colorado State University were and continue to be active in testing duplicate hail monitor systems at sites in the hail prone high plains of Colorado. The KSC Hail Monitor System (HMS), consisting of three stations positioned approximately 500 ft from the launch pad and forming an approximate equilateral triangle (see Figure 1), was deployed to Pad 39B for support of STS-115. Two months later, the HMS was deployed to Pad 39A for support of STS-116. During support of STS-117 in late February 2007, an unusual hail event occurred in the immediate vicinity of the exposed space shuttle and launch pad. Hail data of this event was collected by the HMS and analyzed. Support of STS-118 revealed another important application of the hail monitor system. Ground Instrumentation personnel check the hail monitors daily when a vehicle is on the launch pad, with special attention after any storm suspected of containing hail. If no hail is recorded by the HMS, the vehicle and pad inspection team has no need to conduct a thorough inspection of the vehicle immediately following a storm. On the afternoon of July 13, 2007, hail on the ground was reported by observers at the VAB, about three miles west of Pad 39A, as well as at several other locations around Kennedy Space Center. The HMS showed no impact detections, indicating that the shuttle had not been damaged by any of the numerous hail events which occurred that day.

Lane, John E.↗
NASA NTRS2005

Vacuum Deployment and Testing of a 4-Quadrant Scalable Inflatable Solar Sail System

Solar sails reflect photons streaming from the sun and transfer momentum to the sail. The thrust, though small, is continuous and acts for the life of the mission without the need for propellant. Recent advances in materials and ultra-low mass gossamer structures have enabled a host of useful missions utilizing solar sail propulsion. The team of L'Garde, Jet Propulsion Laboratories, Ball Aerospace, and Langley Research Center, under the direction of the NASA In-Space Propulsion office, has been developing a scalable solar sail configuration to address NASA s future space propulsion needs. The baseline design currently in development and testing was optimized around the 1 AU solar sentinel mission. Featuring inflatably deployed sub-T(sub g), rigidized beam components, the 10,000 sq m sail and support structure weighs only 47.5 kg, including margin, yielding an areal density of 4.8 g/sq m. Striped sail architecture, net/membrane sail design, and L'Garde's conical boom deployment technique allows scalability without high mass penalties. This same structural concept can be scaled to meet and exceed the requirements of a number of other useful NASA missions. This paper discusses the interim accomplishments of phase 3 of a 3-phase NASA program to advance the technology readiness level (TRL) of the solar sail system from 3 toward a technology readiness level of 6 in 2005. Under earlier phases of the program many test articles have been fabricated and tested successfully. Most notably an unprecedented 4-quadrant 10 m solar sail ground test article was fabricated, subjected to launch environment tests, and was successfully deployed under simulated space conditions at NASA Plum Brook s 30m vacuum facility. Phase 2 of the program has seen much development and testing of this design validating assumptions, mass estimates, and predicted mission scalability. Under Phase 3 a much larger 20 m square test article including subscale vane has been fabricated and tested. A 20 m system ambient deployment has been successfully conducted after enduring Delta-2 launch environment testing. The program will culminate in a vacuum deployment of a 20 m subscale test article at the NASA Glenn s Plum Brook 30 m vacuum test facility to bring the TRL level as close to 6 as possible in 1 g. This focused program will pave the way for a flight experiment of this highly efficient space propulsion technology.

Lichodziejewski, David↗
DOE OSTI2023

Continuous multimodal technologies in industrial microbiology: potential for achieving high process performance and agility

The field of industrial microbiology has great potential to tackle the most pressing challenges facing society, but today, this entails much more than classical fermentation technology followed by product upgrading. Methods are needed to confer unit-operation-level functionality and whole-system-level robustness, as well as flexibility. As examples of this concept, we focus here on methodologies often deployed at industrial scale as discrete processes—such as biological, chemical, and electrochemical unit operations—that are also capable of substantial complementarity when combined sequentially and operated continuously. A key and relatively new type of conversion step is made possible by catalyst immobilization methods at both the enzymatic and cellular level. Cases drawn from electro-fermentation for acetoin production and syngas-mediated microbial electrosynthesis of ethanol exemplify the synergy of combined operational approaches. Because modular processes can be treated as a series of reactor elements, considerable flexibility is possible. As discussed, however, not all processes are amenable to this intensification.

09 BIOMASS FUELS↗
DOE OSTI2021

Impacts of turbine and plant upsizing on the levelized cost of energy for offshore wind

Turbine and plant upsizing are major trends in offshore wind deployment, although the quantitative impact on project costs has not been well-characterized. The uncertain value of continued wind turbine and project growth limits the ability of the supply chain to prepare for future technology trends, leading to challenges in the realization of larger projects. This analysis explores the levelized cost of energy impacts of turbine ratings between 6 and 20 MW and plant capacities between 250 and 2,500 MW for fixed-bottom offshore wind using techno-economic cost models for foundation, electrical, installation, and operation and maintenance costs, along with annual energy production. We consider a nominal set of technology assumptions for all scenarios to isolate economies of size and scale without additional benefits from decreasing turbine capital costs, quantity discounts for larger projects, or optimized technology solutions. These results indicate that using a 20-MW wind turbine in a 2,500-MW power plant array can reduce the levelized cost of energy by over 23% relative to the global average turbine and plant size installed in 2019; primarily because of reductions in the balance-of-system and operation and maintenance costs. We also identify improved installation vessels, optimized export systems, and novel operation and maintenance strategies as additional cost reduction opportunities. These results suggest that upsizing represents a significant cost reduction opportunity for offshore wind energy and will continue to be a main factor in shaping the future of the sector.

17 WIND ENERGY↗
DOE OSTI2026

Technology Impact and Resource Assessment of Existing and Planned U.S. Biofuel Production: Life Cycle Water Consumption, Water Stress, Land Use, and Criteria Air Pollutants

Biofuels have the potential to strengthen the U.S. energy supply, enhance energy security, and promote economic development. As the United States continues to expand biofuel production, quantifying resource requirements and location-specific constraints is crucial for planning, siting, and technology development to support long-term viability. Accordingly, this work assesses the life cycle resource consumption (water consumption, and land use), water stress and criteria air pollutants associated with expanded U.S. biofuel production over the 2020–2035 period, based on producers’ plans. We perform a bottom-up technology impact assessment and resource assessment by integrating facility-level production statistics with Argonne’s Research and Development (R&D) GREET model and county-level water-stress characterization factors from Available Water Remaining for the United States (AWARE-US) model. Results suggest that by 2035, biofuels could meaningfully contribute to U.S. energy demand, driven primarily by first-generation and waste-based feedstocks with plans for substantial capacity expansion, although cellulosic and e-fuel technologies remain limited. However, growth must be managed to minimize impacts on water resources and land use. These impacts vary by fuel type and facility location, specifically, projected expansion increases water consumption and can elevate water-stress impacts in certain regions like Nebraska, Kansas, Colorado, Idaho, California and North Texas. Direct land use also increases overall, particularly for first-generation feedstocks such as corn and soybeans. These findings underscore the need for continued technological improvements and innovative strategies to manage resource demands as the industry scales and to support complementary deployment within the evolving U.S. energy system.

09 BIOMASS FUELS↗
DOE OSTI2024

Measuring the Moisture Content of Wood Sheathing with Continuous Wave Radars

Radars were studied for measuring the moisture content of wood-based materials because of their non-destructive nature and their ability to measure the moisture content of several layers at once. These convenient characteristics enable a quick and non-invasive method to find areas of high moisture content in building envelopes so that problems can be fixed before the structure degrades. The need to operate the radar at millimeter ranges required the development of new techniques and methods for analyzing and calculating the moisture content of individual layers of building material. The techniques are providing accurate results for oriented strand board, and efforts are continuing for investigating other construction materials, meeting FCC requirements, and building a system that will be easy to deploy.

Killough, Stephen M↗
DOE OSTI2017

Resilient Grid Operational Strategies

Extreme weather-related disturbances, such as hurricanes, are a leading cause of grid outages historically. Although physical asset hardening is perhaps the most common way to mitigate the impacts of severe weather, operational strategies may be deployed to limit the extent of societal and economic losses associated with weather-related physical damage.1 The purpose of this study is to examine bulk power-system operational strategies that can be deployed to mitigate the impact of severe weather disruptions caused by hurricanes, thereby increasing grid resilience to maintain continuity of critical infrastructure during extreme weather. To estimate the impacts of resilient grid operational strategies, Los Alamos National Laboratory (LANL) developed a framework for hurricane probabilistic risk analysis (PRA). The probabilistic nature of this framework allows us to estimate the probability distribution of likely impacts, as opposed to the worst-case impacts. The project scope does not include strategies that are not operations related, such as transmission system hardening (e.g., undergrounding, transmission tower reinforcement and substation flood protection) and solutions in the distribution network.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2024

OpenCHAMI Developer Summit [Slides]

The mission of the OpenCHAMI consortium is to steward the collaborative development and continuous evolution of cloud-like software to manage High Performance Computing capacity regardless of the size or deployment platform. We are guided by the operators and practitioners who use modern tooling and concepts to address the needs of classical HPC applications and the growing AI/ML and Data Science community that wish to leverage HPC capacity within their own workflows, to meet their needs with their own tools.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2026

FY25 Electric Grid Security Annual Report

Sandia’s Electric Grid Security program advances a national vision of energy dominance and accessibility, while applying our national security -emphasis on ensuring of a secure, resilient, and affordable electric system for all users. Our achievements reflect a strategic approach combining technology development; modeling, simulation, and data analytics; and partnered demonstrations and outreach to further the adoption of advanced grid and storage technologies. Our FY25 efforts leverage the strengths of our partnerships—spanning Sandia’s core science and technology competencies as well as external technology leaders—to develop the solutions today which enable the grid of tomorrow. Key accomplishments in this report that support our strategy span our technical program areas and include: • New open-source analytical tools for systems -level planning and optimization, including significant advances to the QuESt analytical environment; • Further advancement of artificial intelligence and machine learning to enhanced grid operations and planning as we rise to the challenge of new large loads; • Development of solid-state power conversion technologies and a new medium-voltage research lab; • New technologies to assess wildfire vulnerabilities and mitigate potential impacts; • Advanced applications of new cybersecurity technologies with industry partners; • Contributions to understanding the impacts of electromagnetic pulses and geomagnetic disturbances on grid components; and • Digital twin development for hybrid microgrids with multiple generators, storage, and loads. This report indicates key areas of research and engagement and summarizes the impact of Sandia’s contributions through notable accomplishments, journal publications, patents, and technical conferences and presentations. It is provided with the hope that readers discover ways we can further team to create our modern grid and apply the outcomes of our efforts. The bulk of work described herein is funded by several offices within the U.S. Department of Energy (USDOE), including the Office of Electricity (OE); Cybersecurity, Energy Security, and Emergency Response (CESER); former offices such as the Office of Energy Efficiency and Renewable Energy (EERE), the Grid Deployment Office (GDO), the Office of Clean Energy Demonstrations (OCED), and other key programs at USDOE. As we continue to state in these annual reports, the contributors to our successes are too numerous to name here, though our team wishes to express our deep gratitude to the numerous program and project sponsors at the US Department of Energy, who often function equally as technical collaborators; our many partners in industry, academia, utilities, and other national labs; and fellow researchers and business partners at Sandia whose leadership and creativity have enabled the accomplishments described herein.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2024

Model Quality and Measurement Density Impact on Volt/Volt Ampere Reactive Optimization Performance

The operation of the utility grid is being reshaped by the continuous addition of distributed energy resources and advanced metering infrastructure, which challenge existing grid control strategies. Some utilities deploy advanced distribution management systems (ADMS) to assist with the consolidation of various applications and to augment situational awareness in response to the new power delivery dynamics. An ADMS is an integrated software platform that provides utilities with a way to enhance their reliability, control, and optimization with advanced applications, such as volt/VAR optimization (VVO). A VVO application could serve as a vehicle to deliver cost savings by providing the utility with a method to reduce rates by controlling the voltage and decreasing the energy usage in their service territory. Some utilities are reluctant to integrate an ADMS, because it is a significant investment that requires approval from the public regulatory commission and/or their customers. This paper evaluates the impact on VVO performance when using a lower-quality network model supplemented with additional measurements, which could provide an implementation for cost savings. The results show that a better model quality would provide the highest energy savings; however, some level of telemetry is necessary in all scenarios to prevent voltage exceedances.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2025

Measurement report: Extreme heat and wildfire emissions enhance volatile organic compounds in a temperate forest

Climate extremes are projected to cause unprecedented deviations in the emission and transformation of volatile organic compounds (VOCs), which trigger feedback mechanisms that will impact the atmospheric oxidation and formation of aerosols and clouds. However, the response of VOCs to future conditions such as extreme heat and wildfire events is still uncertain. This study explored the modification of the mixing ratio and distribution of several anthropogenic and biogenic VOCs in a temperate oak–hickory–juniper forest as a response to increased temperature and transported biomass burning plumes. A chemical ionization mass spectrometer was deployed on a tower at a height of 32 m in rural central Missouri, United States, for the continuous and in situ measurement of VOCs from June to August of 2023. The maximum observed temperature in the region was 38 °C, and during multiple episodes the temperature remained above 32 °C for several hours. Biogenic VOCs such as isoprene and monoterpene followed closely the temperature daily profile but at varying rates, whereas anthropogenic VOCs were insensitive to elevated temperature. During the measurement period, wildfire emissions were transported to the site and substantially increased the mixing ratios of acetonitrile and benzene, which are produced from burning of biomass. An in-depth analysis of the mass spectra revealed more than 250 minor compounds, such as formamide and methylglyoxal. Extreme heat and presence of wildfire plumes modified the overall volatility, reactivity, O : C, and H : C ratios of the extended list of VOCs. The calculated OH reactivities during extreme temperature condition and transport of biomass burning plumes were 106.37±4.27 and 106.22±5.15 s −1 , respectively, which are substantially higher than background level of 98.78±1.16 s −1 . Multivariate analysis also clustered the compounds into five factors, which highlighted the sources of the unaccounted-for VOCs. Ultimately, results here underscore the effect of extreme heat and wildfire emissions on the overall chemical properties VOC in a temperate forest.

Salvador, Christian Mark [Oak Ridge National Labor↗
NASA NTRS1982

The 737 graphite composite flight spoiler flight service evaluation

A flight service report was prepared which covers the flight service experience of 111 graphite epoxy spoilers on 737 transport aircraft and related ground based environmental exposure of graphite epoxy material specimens. Spoilers were installed on 28 aircraft representing seven major airlines operating throughout the world. Tests of removed spoilers after the seventh year of service continue to indicate modest changes in composite strength properties. Two spoilers were tested, one with 6 and one with 7 years of service, and both had residual strengths that fall within the original static strength scatter band. Both these units had typical service included discrepancies when tested. Based on visual, ultrasonic, and destructive inspection there continues to be no evidence of moisture migration into the honeycomb core and no core corrosion in the deployed units.

Coggeshall, R. L.↗
NASA NTRS1985

Experimental radar Doppler wind profile measurements at Kennedy Space Center

A wind profile radar demonstration project was sponsored by the Space Transportation System (STS) Program Office to study the feasibility of incorporating continuous, high time resolution radar wind data into STS operations. This project required wind profile radars to be deployed in the vicinity of the Shuttle launch site into an environment quite unlike typical VHF profiler sites. Two 50 MHz radars were operated at the Kennedy Space Center in environments that were noisy in terms of RFI, large stationary ground clutter sources, non-stationary clutter sources, and heavy local aircraft traffic. Processing compensation for these operational constraints magnified design limitations of the research-level radars used in the demonstration. This report addresses the importance of system design for unique or particular applications with reference to finite radiation patterns, zero-Doppler processing, radar frequency, and beam pointing.

Jost, R. J.↗
NASA NTRS1990

Development of SEDS data system flight software

The Small Expendable-tether Deployer System (SEDS) is being built for a 1991 flight on a Delta launch vehicle. SEDS will deploy a 50 lb instrument satellite as an end mass at the end of a 20 km tether. The objective of the experiment is to test the SEDS design concept by demonstrating that the system will satisfactorily deploy the full 20 km tether without stopping prematurely, come to a smooth stop on application of the brake, and cut the tether at the proper time after it swings to the vertical. SEDS will also collect data that will be used to test the accuracy of tether dynamics models for this type of deployment. Radar tracking is planned. In addition, the SEDS on-board computer system will record, store, and continuously transmit data over the Delta II S-band telemetry channel. Initial testing of the software under simulated flight conditions was performed. These tests used both assembly language routines running on SEDS data systems and C-language routines on an IBM-PC. As the software now stands relatively few additions are needed before the entire set of flight software is complete.

Pierson, William E.↗
NASA NTRS2004

Formation Control of the MAXIM L2 Libration Orbit Mission

The Micro-Arcsecond Imaging Mission (MAXIM), a proposed concept for the Structure and Evolution of the Universe (SEU) Black Hole Imaging mission, is designed to make a ten million-fold improvement in X-ray image clarity of celestial objects by providing better than 0.1 microarcsecond imaging. To achieve mission requirements, MAXIM will have to improve on pointing by orders of magnitude. This pointing requirement impacts the control and design of the formation. Currently the architecture is comprised of 25 spacecraft, which will form the sparse apertures of a grazing incidence X-ray interferometer covering the 0.3-10 keV bandpass. This configuration will deploy 24 spacecraft as optics modules and one as the detector. The formation must allow for long duration continuous science observations and also for reconfiguration that permits re-pointing of the formation. In this paper, we provide analysis and trades of several control efforts that are dependent upon the pointing requirements and the configuration and dimensions of the MAXIM formation. We emphasize the utilization of natural motions in the Lagrangian regions that minimize the control efforts and we address both continuous and discrete control via LQR and feedback linearization. Results provide control cost, configuration options, and capabilities as guidelines for the development of this complex mission.

Folta, David↗