Search NASA⌕ Search

SEARCH · Search NASA

Results for “Base Support Building”

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 775 records · Page 43
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

Visual Analytics of Crosstalk in Quantum Hardware

Crosstalk remains a major obstacle to building scalable and fault-tolerant quantum computers. Conventional diagnostic techniques-often based on numerical simulation or statistical modeling-struggle to scale with hardware complexity and offer limited interpretability. In this work, we present a visual analytics framework for diagnosing qubit crosstalk using lightweight, circuit-based models integrated with an interactive user interface. Our approach quantifies correlations between active and idle qubits under parameterized single- and twoqubit operations, enabling detection of both spatial and gateinduced crosstalk. The system incorporates qubit topology and gate performance data to support sector-based exploration and correlation mapping. This tool assists users in identifying correlated error sources, informing qubit placement strategies, and guiding noise-aware circuit design.

Chae, Junghoon [ORNL] (ORCID:0000000206016746)↗
DOE OSTI2026

Versatile High-Gain Low-Noise Readout ASIC for Silicon Microstrip Tracking Detectors

This work presents Turpial, a custom-designed low- power front-end readout ASIC for microstrip silicon sensors. Implemented in 130 nm CMOS technology, the chip integrates 64 identical readout channels, each including a configurable charge-sensitive amplifier, a bipolar pulse shaper, a 32-sample 50 Msps analog memory, and a 12-bit RC-hybrid SAR ADC operating at 1 Msps. To satisfy the target power budget of 5 mW per channel, the architecture employs a time-decoupled readout scheme in which fast transient signals are first captured in the analog memory and subsequently digitized at a lower rate. Turpial supports a wide dynamic range from 1 kℎ+ to 1 Mℎ+ while maintaining low noise performance, targeting an equivalent noise charge (ENC) below 200 𝑒−including the sensor, and providing a maximum gain of 1500 mV/fC. A digital block manages slow control, data acquisition, and data serialization through dual CML 300 Mb/s serializers. In addition, an on-chip reference circuit, based on a sub-1 V bandgap reference and an integrated LDO regulator, eliminates the need for external reference circuitry. Experimental results demonstrate that both the individual building blocks and the fully integrated ASIC meet the design specifications.

Hernandez, Hugo [Stanford University] (ORCID:00000↗
DOE OSTI2024

Energy Transitions Initiative Partnership Project: Bainbridge Island, Washington: Cohort 2 Technical Assistance: Improving Resilience

The City of Bainbridge Island (COBI) applied for and received technical assistance from the Energy Transitions Initiative Partnership Program (ETIPP) in part to achieve their goal of 100% renewable electricity generation by 2040, five years ahead of the Washington State goal. Their second goal of increasing energy resilience is discussed in this report. Pacific Northwest National Laboratory (PNNL) completed the technical analysis aspects of the project, supported by the community partner Spark Northwest and the program administrator, the National Renewable Energy Laboratory (NREL). PNNL worked with the Community Lead and stakeholders to ensure selection of hazards and energy infrastructure of highest priority and integration of existing expertise into the analysis. We have also worked to align analysis with current activities conducted by Puget Sound Energy (PSE), and other efforts within the Bainbridge Island community around resilience. This report, conducted under the ETIPP project in partnership with COBI, aims to build on this existing knowledge base with a specific energy focus, to identify hazards and threats to critical energy infrastructure, summarize the risk, and identify and analyze remaining resilience gaps.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
NASA NTRS1982

Development of the structural technology of a large deployable antenna

The current NASA-sponsored Antenna Technology Development Program of the offset wrap-rib antenna concept is based on a ground test program of 'proof of concept' hardware whose potential on-orbit performance is based on analytical estimates. The ground demonstration hardware represents a partial 55-meter diameter reflector and feed support structure. Testing will include automated deployment, reflector surface quality evaluation and validation of analytical performance models. Test results and hardware fabrication costs will be used to refine the models that will be the basis for the preliminary design of a 100-meter diameter wrap-rib antenna system. Additionally, the design, processes, tooling, fabrication techniques, fixturing and assembly approaches used for the 'proof of concept' hardware are directly applicable to building flight systems up to 100 meters in diameter.

Wada, B. K.↗
NASA NTRS1994

Field and data analysis studies related to the atmospheric environment

This report summarizes work on a broad array of projects including: (1) applications of meteorological and/or oceanographic satellites; (2) improvement of the current set of NASA/USAF lightning related launch commit criteria rules; (3) the design, building, testing and deployment of a set of cylindrical field mills for aircraft use; (4) the study of marginal electrification storm conditions in relationship to the current launch commit rules for the space shuttle and various other launch vehicles using an instrumented aircraft; (5) support of the DC-8 and ER-2 lightning instrument package as part of both the Tropical Ocean - Global Atmospheric/Coupled Ocean-Atmospheric Response Experiment and the Convection and Moisture Experiment; (6) design of electronic circuitry and microprocessor firmware for the NASA Advanced Ground Based Field Mill; (7) design and testing of electronic and computer instrumentation for atmospheric electricity measurements; (8) simulating observations from a lightning imaging sensor on the Tropical Rainfall Measuring satellite; and (9) supporting scientific visualization and the development of computer software tools.

Kidder, Stanley↗
NASA NTRS2002

The Aircraft Simulation Role in Improving Flight Safety Through Control Room Training

NASA Dryden Flight Research Center uses its six-degrees-of-freedom (6-DOF) fixed-base simulations for mission control room training to improve flight safety and operations. This concept is applied to numerous flight projects such as the F-18 High Alpha Research Vehicle (HARV), the F-15 Intelligent Flight Control System (IFCS), the X-38 Actuator Control Test (XACT), and X-43A (Hyper-X). The Dryden 6-DOF simulations are typically used through various stages of a project, from design to ground tests. The roles of these simulations have expanded to support control room training, reinforcing flight safety by building control room staff proficiency. Real-time telemetry, radar, and video data are generated from flight vehicle simulation models. These data are used to drive the control room displays. Nominal static values are used to complete information where appropriate. Audio communication is also an integral part of training sessions. This simulation capability is used to train control room personnel and flight crew for nominal missions and emergency situations. Such training sessions are also opportunities to refine flight cards and control room display pages, exercise emergency procedures, and practice control room setup for the day of flight. This paper describes this technology as it is used in the X-43A and F-15 IFCS and XACT projects.

Shy, Karla S.↗
DOE OSTI2020

Building the Efficiency Workforce: Preprint

Demand for high-performance homes and buildings is growing due to their marketability, environmental benefits, and increasing affordability. Growth for energy efficient technologies and building upgrades has driven expansion across many traditional industries including construction trades (which added almost 21,000 jobs) and professional services (which added 35,000 employees) in 2018, according to the 2019 U.S. Energy Employment Report (USEER). As buildings become more automated, digitized and interconnected, the workforce that supports the design, build, operations and maintenance of these buildings must evolve. The U.S. Department of Energy’s Building Technologies Office (BTO) has engaged NREL to provide a framework upon which BTO can develop their next generation workforce development strategy. The strategy will be designed to increase quantity of workers with the skills to adequately design, install, maintain and operate high- performance buildings across all building sectors (residential, commercial, industrial). This paper will summarize past BTO workforce development efforts, identify current skills gaps and hiring challenges, and present anticipated future workforce needs based on new technologies currently being developed by labs and industry. Through a literature review and a series of industry and academic workshops, NREL will present a framework that includes multiple options to best prepare the next generation workforce.

buildings↗
NASA NTRS2005

Circadian rhythms, sleep, and performance in space

Maintaining optimal alertness and neurobehavioral functioning during space operations is critical to enable the National Aeronautics and Space Administration's (NASA's) vision "to extend humanity's reach to the Moon, Mars and beyond" to become a reality. Field data have demonstrated that sleep times and performance of crewmembers can be compromised by extended duty days, irregular work schedules, high workload, and varying environmental factors. This paper documents evidence of significant sleep loss and disruption of circadian rhythms in astronauts and associated performance decrements during several space missions, which demonstrates the need to develop effective countermeasures. Both sleep and circadian disruptions have been identified in the Behavioral Health and Performance (BH&P) area and the Advanced Human Support Technology (AHST) area of NASA's Bioastronautics Critical Path Roadmap. Such disruptions could have serious consequences on the effectiveness, health, and safety of astronaut crews, thus reducing the safety margin and increasing the chances of an accident or incident. These decrements oftentimes can be difficult to detect and counter effectively in restrictive operational environments. NASA is focusing research on the development of optimal sleep/wake schedules and countermeasure timing and application to help mitigate the cumulative effects of sleep and circadian disruption and enhance operational performance. Investing research in humans is one of NASA's building blocks that will allow for both short- and long-duration space missions and help NASA in developing approaches to manage and overcome the human limitations of space travel. In addition to reviewing the current state of knowledge concerning sleep and circadian disruptions during space operations, this paper provides an overview of NASA's broad research goals. Also, NASA-funded research, designed to evaluate the relationships between sleep quality, circadian rhythm stability, and performance proficiency in both ground-based simulations and space mission studies, as described in the 2003 NASA Task Book, will be reviewed.

Review↗
NASA NTRSDate not supplied

Towards Integrated Computational Materials Engineering for Quantifying Performance Impacts of Microstructure and Defect Interactions in Powder Bed Fusion Parts

Powder bed fusion (PBF) additive manufacturing (AM) enables the creation of parts with complexity and functionality levels that were previously impossible with traditional manufacturing methods. By modifying the laser power, hatch spacing, or the numerous other processing parameters, the PBF process supports the production of a wide set of materials and geometries. However, that same process parameter design flexibility causes the process-design space of PBF to be massive and expensive to explore experimentally. Another challenge is quality variation across a build. As a part is being built, geometric variance between locations, such as at a thin-wall section vs. the bulk material, may cause the specified processing parameters to no longer be acceptable for producing defect-free printing. Furthermore, if the processing parameters deviate during the print process, it is difficult to assess if the part will still perform satisfactorily. Integrated Computational Materials Engineering (ICME) provides a way to understand and address these various challenges. This talk will present advancements in process-structure simulations of PBF at NASA Langley Research Center. The ability to simulate grain-scale PBF microstructures using the Physically Based Monte Carlo method will be demonstrated and compared to experimental measurements. Techniques for simulating three-dimensional lack-of-fusion and keyhole porosity defects based on the specific processing conditions and approaches for integrating the two porosity prediction techniques alongside the computational microstructure evolution models will be shown. Finally, the integration of simulated PBF microstructures, embedded process defects, and crystal plasticity finite element models to elucidate the interaction of porosity and microstructure on micromechanical fields will be demonstrated. These integrated techniques demonstrate an example of using ICME to relate processing to performance for PBF AM materials. With continued maturity, it is hoped that such ICME approaches will lead to next-generation computational-materials supported qualification and certification of AM parts.

Additive manufacturing↗
DOE OSTI2025

Investigation of ventilation-coupled high energy density sensible thermal energy storage

Low-cost energy storage will play an important role in supporting the decarbonization of the energy sector. Here, a novel approach to thermal energy storage for buildings is proposed, in which a tank of antifreeze liquid can be used to heat outdoor air in mechanical ventilation systems. If heated to a high enough temperature, the fluid can potentially undergo temperature swings of nearly 100°C during discharge in cold climates. Because the energy density of sensible storage systems scales proportionally to the system temperature change, this concept has the potential to offer higher energy densities than other liquid-based sensible storage devices used in building applications. A one-dimensional numerical model of the storage system was developed and experimentally validated using 30 wt% (wt%) potassium acetate as an aqueous antifreeze solution. Using a commercial hot water tank, energy densities of 47.0 kW-hour per cubic meter (kWh/m 3 ) were demonstrated in a laboratory setting. Material energy densities of approximately 74.7 (kWh/m 3 ) were measured. Design improvements may boost this energy storage density even further. Because of the system's relative simplicity, ventilation-coupled sensible storage has the potential to be an easily deployable, low-cost energy storage solution for building systems.

25 ENERGY STORAGE↗
DOE OSTI2026

From Cell to System: Accelerated hpc Simulations of BESS Aging under Frequency Regulation and Arbitrage use cases

Lithium-ion battery energy storage systems (BESS) packs have emerged as a leading solution for grid-scale energy storage, enhancing resiliency and balancing load fluctuations. Yet, experimental characterization of large-format LIB packs-particularly to assess performance and degradation over hundreds of cycles - demands substantial hardware investment and multi-year testing campaigns. In this work, we couple a hierarchical, physics-based modeling framework agnostic to electrode chemistries with high-performance computing to accelerate systems level evaluation by upto two orders of magnitude. Building on the open-source liionpack platform, we implement cell, module, and pack-scale electrochemical models enriched with mechanistic aging mechanisms and deploy them on an HPC cluster to simulate 150−200kWh systems over 500 - 1,000 cycles with in days. We subject these virtual B ESS to both constant-current cycling and realistic grid service profiles spanning frequency regulation, ramp-rate support, and energy arbitrage-and quantify the resulting degradation patterns. Our results reveal that localized cell aging can induce substantial nonuniformity at module and pack levels, with service-specific cycling protocols driving distinct aging modes. This rapid, multiscale modeling approach provides a powerful design-space exploration tool for optimizing electrical architecture, control strategies, and operational schedules to prolong pack lifetime and lower total cost of ownership.

Ayalasomayajula, Surya [ORNL] (ORCID:0009000860788↗
NASA NTRS1984

An updated history of NACA/NASA rotary-wing aircraft research 1915-1984

Highlights are drawn from 'A History of NACA/NASA Rotating-Wing Aircraft Research, 1915-1970' by F. Gustafson to build an historical base upon which to build an extension from 1970-1984. Fundamental changes in how NASA conducted rotary-wing research in the early 1970s included an increasing level of contract research and closer ties with research conducted by the U.S. Army. The work done at the Army Research Laboratories at Ames, Langley, and Lewis Research Centers during 1970-1976 is briefly reviewed. In 1976 the Ames Research Center was assigned the Lead Center responsibility for helicopter research, though Langley retained research roles in structures, noise, dynamics, and aeroelasticity in support of rotorcraft. By 1984, NASA Rotorcraft Program Funding reached $35 million per year.

Ward, J.↗
NASA NTRS1999

High Resolution X-Ray Explorer (HIREX)

SAO has carried out a study to determine the feasibility of building an orbiting telescope capable of resolving 7 km structure on the Sun. In order to achieve the required imaging the telescope must have a resolution 0.01 arcsec. This fact challenges the state of the art of orbiting telescopes in several areas: mirror figuring; optical metrology; optical mounting; mirror figure control; system alignment; optical stability; observatory pointing; and image stability image stability. The telescope design concept is based on a 0.6m Cassegrain-style telescope with a 240 meter effective focal length. This is achieved with 2 mirrors supported at opposite ends of a 27 m space-deployable boom. The telescope mirrors are coated with multilayers designed to reflect a broad XUV passband. A third, small mirror, near the focal plane performs the function of selecting the narrow band that is finally imaged. Image stabilization to the 0.005 a,rcsec level is achieved by active control of the secondary mirror. The primary mirror is held unadjustably to the spacecraft, its pointing set by the space- craft orientation. The secondary mirror is mounted on a 6-axis stage that permits its position to be changed to align the telescope in space. The stage is intended for intermittent adjustment, both because of its speed of travel, and the TBD alignment procedure. The third mirror is called the TXI (Tuneable X-ray Imager). It is mounted on a gimbal that permits it to be tipped over a 60 degree range, selecting between the individual wavelengths in the initial bandpass. It can also rotated completely out of the way to allow the full, broadband EUV flux to strike the focal plane.

Golub, Leon↗
DOE OSTI2020

Remediation of Temporary Storage Sites in Support of the Port Hope Area Initiative - 20295

The Port Hope Area Initiative is a community-based solution for the long-term management of historic low level radioactive waste (LLRW) resulting from 60 years of uranium and radium processing operations in the Town of Port Hope which is located in Ontario, Canada. The Eldorado refinery, on the north shore of Lake Ontario, began refining radium-226 from pitchblende ore, later transitioning to the refining of uranium. Through the history of the operation, LLRW was deposited throughout the town of Port Hope as a result of fugitive emissions from the plant and/or through the re-use of process residues as building material and backfill. Historical clean-up activities conducted in the late 1970's involved the remediation of approximately 400 properties and the relocation of 100,000 cubic metres of contaminated soil to a disposal facility in Chalk River operated by Atomic Energy of Canada Limited (AECL). Owing to space limitations at that disposal facility, any LLRW identified through construction monitoring since that time has been stored in the community at three temporary storage sites located throughout the town. These include: the Centre Pier mound that contained approximately of 19,800 m{sup 3} of LLRW-impacted soil that originated from the construction of a new water treatment plant; two mounds located at a licensed storage facility containing LLRW obtained from residential clean-up activities (11,000 m{sup 3}); and a small pad adjacent to the municipal sewage treatment plant containing 2200 m{sup 3} of LLRW-containing sludge. With the construction of a new long-term waste management facility (LTWMF) that has been designed to house all of the LLRW identified within Port Hope, the three sites were early candidates for remediation. The clean-up of the three temporary storage sites was a significant milestone for the Port Hope Area Initiative. After a decade of planning and consultation, this work represents the first sites in the municipality to be remediated with the waste being safety removed and transferred to the newly constructed LTWMF. This paper discusses the challenges associated with the clean-up activities for these three sites and the strategies employed to address those challenges. These included weather-related challenges, owing to the seasons over which the work was conducted as well as those associated with working within a closely-knit community. Canadian Nuclear Laboratories (CNL), working on behalf of the federal government, has worked diligently to develop a positive and trusting relationship with the community. Consequently, the successful execution of this project needed to be sensitive to, and respectful of the needs of the community. In addition to the usual Health, Safety and Environment training, project staff received community awareness training that spoke to the history of this community-based initiative and the expected behavior when working within the community. Transportation routes were defined based on safety and the need to minimize disruption to local traffic while haul-times where scheduled around school bus hours to enhance public safety. The successful completion of this first of many remediation projects to be completed under the Port Hope Area Initiative reflected years of careful planning. Nevertheless, there were a number of 'lessons learned' that have been applied on other ongoing projects be completed under the Port Hope Area Initiative. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2024

PySAGES: flexible, advanced sampling methods accelerated with GPUs

Abstract Molecular simulations are an important tool for research in physics, chemistry, and biology. The capabilities of simulations can be greatly expanded by providing access to advanced sampling methods and techniques that permit calculation of the relevant underlying free energy landscapes. In this sense, software that can be seamlessly adapted to a broad range of complex systems is essential. Building on past efforts to provide open-source community-supported software for advanced sampling, we introduce PySAGES, a Python implementation of the Software Suite for Advanced General Ensemble Simulations (SSAGES) that provides full GPU support for massively parallel applications of enhanced sampling methods such as adaptive biasing forces, harmonic bias, or forward flux sampling in the context of molecular dynamics simulations. By providing an intuitive interface that facilitates the management of a system’s configuration, the inclusion of new collective variables, and the implementation of sophisticated free energy-based sampling methods, the PySAGES library serves as a general platform for the development and implementation of emerging simulation techniques. The capabilities, core features, and computational performance of this tool are demonstrated with clear and concise examples pertaining to different classes of molecular systems. We anticipate that PySAGES will provide the scientific community with a robust and easily accessible platform to accelerate simulations, improve sampling, and enable facile estimation of free energies for a wide range of materials and processes.

Chemistry↗
DOE OSTI2024

IEA Wind TCP Task 49: Reference Site Conditions for Floating Wind Arrays

This report, prepared within Work package 1 of IEA Wind Task 49, presents reference site conditions for floating wind arrays to serve as a design basis for the techno-economic design of reference floating wind arrays. Data of the reference sites presented here are publicly available in an open database and thus support fast development and comparable design of floating wind arrays for various relevant conditions. The development of these reference sites drew on existing open access datasets and ongoing research projects of task participants. Six classes were identified that describe relevant key conditions for the design and development of floating wind arrays: met-ocean conditions, seabed conditions, coastal infrastructure, environmental impact, socio-economic impact, as well as regulations and permissions. The reference sites for the techno-economic design of floating wind arrays are based on a concept with building blocks to synthesize purpose-built site representations. In each of the identified classes with influencing design factors, building blocks are used to describe the characteristic properties and their spread. However, the latter three classes (i.e., environmental impact, socio-economic impact, regulations and permissions) are not included in the reference site conditions due to limited knowledge and lack of reliable criteria to quantify their impact on the techno-economic design in numeric parameters. Building blocks with key parameters for the techno-economic design of floating wind arrays are provided for met-ocean conditions, seabed conditions, and coastal infrastructure. For met-ocean conditions, multiple sites were selected for detailed analysis that represent a range of conditions across the pipeline of floating wind projects. Wind conditions and sea states are separated, and each location considers both the severity of wind and waves e.g. one site may have a moderate wave condition but severe wind condition. From this pipeline, eleven representative sites were selected where both site-specific analysis was available within the consortium, and where they represent different parts of the global pipeline. The eleven sites are: Hannibal (Italy), Humboldt (US), Ulsan (South Korea), MoneyPoint One (Ireland), Havbredey (UK), Fukushima (Japan), Utsira Nord (Norway), Gulf of Maine (US), Sud de la Bretagne II (France), Sorlige Nordsjo II (Norway). Each of these sites is summarized in the main report while more details about the studies and analyses behind the datasets are provided in the appendix. For seabed conditions, general information about the geotechnical parameters is provided and a baseline is established for the geotechnical parameters and stratigraphy that may be encountered on the sites. A set of six 'synthetic cases' is defined as building blocks providing the different parameters required for design under each case/soil condition. For the coastal infrastructure, general information about the main requirements is provided that a port should comply with to provide a satisfactory service during the construction of floating offshore wind arrays. Minimum port infrastructural requirements are provided for three types of ports.

17 WIND ENERGY↗
DOE OSTI2025

Analyzing the Impact of Future Weather Data on Energy Consumption in Weatherization Assistant

This study supports the mission of the U.S. Department of Energy’s Weatherization Assistance Program (WAP), which aims to increase the energy efficiency of dwellings and reduce their total residential expenditures. Specifically, we examine how projected future climate conditions may affect residential building energy performance by integrating future weather data into the National Energy Audit Tool (NEAT). Since WAP evaluates the cost-effectiveness of retrofit measures over lifespans of up to 30 years, accounting for evolving climate conditions is increasingly important. To reflect future household energy demands, this study replaces historically based Typical Meteorological Year (TMY3) weather inputs with Future Typical Meteorological Year (fTMY) datasets derived from global climate model (GCM) projections. A simulation-based framework was established to enable NEAT analysis under future weather conditions. This workflow involves converting EPW-format weather files into JSON inputs compatible with NEAT and generating degree-hour metrics needed for load calculations. The fTMY dataset used in this study was developed by Oak Ridge National Laboratory through downscaling of six GCMs under different emission scenarios and covers the period from 2020 to 2100. In contrast, the TMY3 dataset is based on historical weather data from 1961 to 1990. Simulations were conducted for benchmark single-family prototype buildings across ASHRAE climate zones 1–7, which cover all regions of the U.S. except the subarctic Zone 8 in northern Alaska, evaluating both heating and cooling loads under TMY3 and fTMY conditions. Four foundation types were tested, while heating systems were standardized, as NEAT does not differentiate thermal energy load by HVAC system type in its load calculations. Results show that fTMY weather input consistently yield lower heating loads and higher cooling loads across most locations, aligning with expected climate warming trends. Notably, colder regions such as zones 6A, 6B, and 7 experience marked reductions in heating load, while warmer and transitional zones, such as 2A (Lufkin, TX) and 3C (San Francisco, CA), have substantial increases in cooling loads. Although this study does not directly assess the performance of retrofit measures under future climate conditions, it provides a critical foundation for doing so. By quantifying shifts in baseline (i.e., pre-retrofit case) energy loads between historical and future weather files, the study highlights the importance of integrating climate-responsive data into audit tools. These findings will inform future efforts to evaluate the long-term effectiveness and cost-effectiveness of weatherization measures under changing climate conditions.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
NASA NTRS2011

Ndarts

Ndarts software provides algorithms for computing quantities associated with the dynamics of articulated, rigid-link, multibody systems. It is designed as a general-purpose dynamics library that can be used for the modeling of robotic platforms, space vehicles, molecular dynamics, and other such applications. The architecture and algorithms in Ndarts are based on the Spatial Operator Algebra (SOA) theory for computational multibody and robot dynamics developed at JPL. It uses minimal, internal coordinate models. The algorithms are low-order, recursive scatter/ gather algorithms. In comparison with the earlier Darts++ software, this version has a more general and cleaner design needed to support a larger class of computational dynamics needs. It includes a frames infrastructure, allows algorithms to operate on subgraphs of the system, and implements lazy and deferred computation for better efficiency. Dynamics modeling modules such as Ndarts are core building blocks of control and simulation software for space, robotic, mechanism, bio-molecular, and material systems modeling.

Jain, Abhinandan↗