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Active control of buckling of flexible beams

Mathematical models are presented that simulate the dynamic characteristics of shape memory alloy actuators made of nickel-titanium alloy (Nitinol) controlling the buckling of compressive structural members. A closed-loop computer-controlled system has been designed, based on the proposed mathematical models, and has been implemented to control the buckling of simple beams. The performance of the computer-controlled system is evaluated experimentally and compared with the theoretical predictions to validate the developed models. The results emphasized the importance of buckling control and suggest the potential of shape memory alloy actuators as attractive means for controlling structural deformation in a simple and reliable way.

Baz, A.↗

WE-H-BRA-02: Radiobiological Modeling of Tumor Control Probability (TCP) and Radiation-Induced Pneumonitis (RP) for Lung Cancer Patients Treated with Monte Carlo-Based Lung SBRT

Purpose: To present radiobiological modeling of TCP using tumor size-adjusted BED(s-BED)and PTV(D99) to lung SBRT patients treated with X-ray Voxel Monte Carlo(XVMC) algorithm, apply parameterized Lyman-NTCP model to predict grade-2 RP and subsequently, compare with clinical outcomes/observations. Methods: Dosimetric parameters and clinical follow-up for XVMC-based lung-SBRT patients were retrospectively evaluated. Patients were treated at Novalis-TX with hybrid(2 non-coplanar partial-arcs plus 3–6 static-beams)plan using HD-MLC/6MV-SRS-beam.For TCP,s-BED modelling was utilized: TCP=EXP[sBED-TCD50]/k/(1.0+EXP[sBED-TCD50]/k), where k=31Gy corresponding to TCD50=0Gy and s-BED was defined as BED10 minus 10 times the tumor diameter(in centimeters)by Ohri et al.(IJROBP,2012). For 2-yr local-control, we used more-realistic MC-computed PTVD99 as a predictive parameter, s-BED(D99).Due to relatively shorter median follow-up interval(12-months),Kaplan-Meier curves were generated to estimate 2-yr observed local-control and compared to predicted-rate by TCP modeling. For NTCP, we employed parameterized Lyman-NTCP model utilizing normal-lung DVH and α/β=3Gy fitted to predict grade-2 RP after lung-SBRT. Results: Total 108 patients (137 tumors) treated for 35–70Gy in 3–5 fractions, either primary-lung(n=74)or metastatic-lung(n=53)tumors were included.F or the given prescription dose with MC-computed MUs, 2-yr local-control rates with s-BED(D99) was 87±8%. Kaplan-Meier generated observed local-control rate at 2-yr was 87.5%,suggesting that PTV(D99) could be a potential predictor (p-value=0.38). Observed vs predicted TCP for primary-lung tumors and metastatic tumors were 97% vs 88±7% and 94% vs 86±9%.NTCP model predicted well for symptomatic-RP with predicted vs observed (3±5% vs 2%). Radiographic and clinically significant RP was observed in 13% and 2% of patients. Higher rates of radiographic change were observed in patients who received >50Gy compared to ≤50Gy(24% vs 10%). Conclusion: Utilizing MC-computed PTVD99, our TCP results were well correlated with clinical outcome. The predicted grade-2 RP rate was comparable to clinical observations. Clinical application of these radiobiological models may potentially allow for target dose escalation and/or lung-toxicity reduction. Further validation of these radiobiological models with longer follow up interval for large cohorts of lung-SBRT patients is anticipated.

60 APPLIED LIFE SCIENCES↗

The Future of Land-Based Wind Turbine Rotor Technology: The Perspective from NREL

The Big Adaptive Rotor (BAR) Project looks at potential innovative pathways for future land-based wind turbine technology. BAR is led by the National Renewable Energy Laboratory and is sponsored by the Wind Energy Technology Office of the US Department of Energy. This talk will describe innovations and challenges faced by the teams working on BAR. The innovations include numerical models predicting the stability and performance of highly flexible blades, downwind rotors to maximize wind farm power, and controlled bending of 100-meter-long blades during rail transport. The challenges of developing predictive numerical models and formulating successful value propositions supporting new technologies such as distributed aero control devices will also be discussed.

BAR↗

SiC Schottky Diode Detectors for Measurement of Actinide Concentrations from Alpha Activities in Molten Salt Electrolyte

In this project, we have designed a 4H-SiC Schottky diode detector device in order to monitor actinide concentrations in extreme environments, such as present in pyroprocessing of spent fuel. For the first time, we have demonstrated high temperature operation of such a device up to 500 °C in successfully detecting alpha particles. We have used Am-241 as an alpha source for our laboratory experiments. Along with the experiments, we have developed a multiscale model to study the phenomena controlling the device behavior and to be able to predict the device performance. Our multiscale model consists of ab initio modeling to understand defect energetics and their effect on electronic structure and carrier mobility in the material. Further, we have developed the basis for a damage evolution model incorporating the outputs from ab initio model in order to predict respective defect concentrations in the device material. Finally, a fully equipped TCAD-based device model has been developed to study the phenomena controlling the device behavior. Using this model, we have proven our concept that the detector is capable of performing alpha detection in a salt bath with the mixtures of actinides present in a pyroprocessing environment.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

TH-A-9A-08: Knowledge-Based Quality Control of Clinical Stereotactic Radiosurgery Treatment Plans

Purpose: To develop a quality control tool to reduce stereotactic radiosurgery (SRS) planning variability using models that predict achievable plan quality metrics (QMs) based on individual patient anatomy. Methods: Using a knowledge-based methodology that quantitatively correlates anatomical geometric features to resultant organ-at-risk (OAR) dosimetry, we developed models for predicting achievable OAR dose-volume histograms (DVHs) by training with a cohort of previously treated SRS patients. The DVH-based QMs used in this work are the gradient measure, GM=(3/4pi)^1/3*[V50%^1/3−V100%^1/3], and V10Gy of normal brain. As GM quantifies the total rate of dose fall-off around the planning target volume (PTV), all voxels inside the patient's body contour were treated as OAR for DVH prediction. 35 previously treated SRS plans from our institution were collected; all were planned with non-coplanar volumetric-modulated arc therapy to prescription doses of 12–25 Gy. Of the 35-patient cohort, 15 were used for model training and 20 for model validation. Accuracies of the predictions were quantified by the mean and the standard deviation of the difference between clinical and predicted QMs, δQM=QM-clin−QM-pred. Results: Best agreement between predicted and clinical QMs was obtained when models were built separately for V-PTV<2.5cc and V-PTV>2.5cc. Eight patients trained the V-PTV<2.5cc model and seven patients trained the V-PTV>2.5cc models, respectively. The mean and the standard deviation of δGM were 0.3±0.4mm for the training sets and −0.1±0.6mm for the validation sets, demonstrating highly accurate GM predictions. V10Gy predictions were also highly accurate, with δV10Gy=0.8±0.7cc for the training sets and δV10Gy=0.7±1.4cc for the validation sets. Conclusion: The accuracy of the models in predicting two key SRS quality metrics highlights the potential of this technique for quality control for SRS treatments. Future investigations will seek to determine whether QM variations are due to residual model inaccuracies or true plan quality variations in the clinical sample. Support from Varian Medical Systems.

60 APPLIED LIFE SCIENCES↗

Active control of buckling of flexible beams

The feasibility of using the rapidly growing technology of the shape memory alloys actuators in actively controlling the buckling of large flexible structures is investigated. The need for such buckling control systems is becoming inevitable as the design trends of large space structures have resulted in the use of structural members that are long, slender, and very flexible. In addition, as these truss members are subjected mainly to longitudinal loading they become susceptible to structural instabilities due to buckling. Proper control of such instabilities is essential to the effective performance of the structures as stable platforms for communication and observation. Mathematical models are presented that simulate the dynamic characteristics of the shape memory actuator, the compressive structural members, and the associated active control system. A closed-loop computer-controlled system is designed, based on the developed mathematical models, and implemented to control the buckling of simple beams. The performance of the computer-controlled system is evaluated experimentally and compared with the theoretical predictions to validate the developed models. The obtained results emphasize the importance of buckling control and suggest the potential of the shape memory actuators as attractive means for controlling structural deformation in a simple and reliable way.

Baz, A.↗

Primary Dendrite Arm Spacing and Trunk Diameter in Al-7-Weight-Percentage Si Alloy Directionally Solidified Aboard the International Space Station

Under a NASA-ESA collaborative research project, three Al-7-weight-percentage Si samples (MICAST-6, MICAST-7 and MICAST 2-12) were directionally solidified aboard the International Space Station to determine the effect of mitigating convection on the primary dendrite array. The samples were approximately 25 centimeters in length with a diameter of 7.8 millimeter-diameter cylinders that were machined from [100] oriented terrestrially grown dendritic Al-7Si samples and inserted into alumina ampoules within the Sample Cartridge Assembly (SCA) inserts of the Low Gradient Furnace (LGF). The feed rods were partially remelted in space and directionally solidified to effect the [100] dendrite-orientation. MICAST-6 was grown at 5 microns per second for 3.75 centimeters and then at 50 microns per second for its remaining 11.2 centimeters of its length. MICAST-7 was grown at 20 microns per second for 8.5 centimeters and then at 10 microns per second for 9 centimeters of its remaining length. MICAST2-12 was grown at 40 microns per second for 11 centimeters. The thermal gradient at the liquidus temperature varied from 22 to 14 degrees Kelvin per centimeter during growth of MICAST-6, from 26 to 24 degrees Kelvin per centimeter for MICAST-7 and from 33 to 31 degrees Kelvin per centimeter for MICAST2-12. Microstructures on the transverse sections along the sample length were analyzed to determine nearest-neighbor spacing of the primary dendrite arms and trunk diameters of the primary dendrite-arrays. This was done along the lengths where steady-state growth prevailed and also during the transients associated with the speed-changes. The observed nearest-neighbor spacings during steady-state growth of the MICAST samples show a very good agreement with predictions from the Hunt-Lu primary spacing model for diffusion controlled growth. The observed primary dendrite trunk diameters during steady-state growth of these samples also agree with predictions from a coarsening-based model. The radial macrosegregation and "steepling" caused by thermosolutal convection during terrestrial growth of the Al-7Si was not observed in the space-grown MICAST samples.

Ghods, M.↗

Progress on the Development of a Simulation Environment for Optical Communications

Deep space laser communications require extremely accurate beam pointing to take advantage of the narrow beams achievable at optical wavelengths. This pointing accuracy must be achieved in the presence of spacecraft basebody motion which may exceed laser pointing requirements by orders of magnitude.In this paper a model of an optical band transceiver pointing control system is developed that can be used to predict performance under various operating scenarios. The transceiver model consists of an electro-mechanical model of the telescope platform and isolator. A novel photon counting detector array is used in the simulation as the focal plane detector. In the simulation we are able to inject various cases of spacecraft basebody motion based on both flight data and future mission spacecraft jitter requirements. Various models of uplink beacon flux levels and atmospheric scintillation are also available for analysis.Using these models, detector processing and control functions are implemented in the simulation. A complete acquisition sequence is demonstrated with blind acquisition and tracking of the modulated uplink beam and positioning of the downlink beam on the focal plane array. These simulations predict that pointing requirements will be met with representative disturbance models and uplink beam scintillation.

pointing control↗

Sub-Saharan Northern African climate at the end of the twenty-first century: forcing factors and climate change processes

A regional climate model, the Weather Research and Forecasting (WRF) Model, is forced with increased atmospheric CO 2 and anomalous SSTs and lateral boundary conditions derived from nine coupled atmosphere-ocean general circulation models to produce an ensemble set of nine future climate simulations for northern Africa at the end of the twenty-first century. A well validated control simulation, agreement among ensemble members, and a physical understanding of the future climate change enhance confidence in the predictions. The regional model ensembles produce consistent precipitation projections over much of northern tropical Africa. A moisture budget analysis is used to identify the circulation changes that support future precipitation anomalies. The projected midsummer drought over the Guinean Coast region is related partly to weakened monsoon flow. Since the rainfall maximum demonstrates a southward bias in the control simulation in July-August, this may be indicative of future summer drying over the Sahel. Wetter conditions in late summer over the Sahel are associated with enhanced moisture transport by the West African westerly jet, a strengthening of the jet itself, and moisture transport from the Mediterranean. Severe drought in East Africa during August and September is accompanied by a weakened Indian monsoon and Somali jet. Simulations with projected and idealized SST forcing suggest that overall SST warming in part supports this regional model ensemble agreement, although changes in SST gradients are important over West Africa in spring and fall. Simulations which isolate the role of individual climate forcings suggest that the spatial distribution of the rainfall predictions is controlled by the anomalous SST and lateral boundary conditions, while CO2 forcing within the regional model domain plays an important secondary role and generally produces wetter conditions.

54 ENVIRONMENTAL SCIENCES↗

Numerical Stability and Control Analysis Towards Falling-Leaf Prediction Capabilities of Splitflow for Two Generic High-Performance Aircraft Models

Aerodynamic analysis are performed using the Lockheed-Martin Tactical Aircraft Systems (LMTAS) Splitflow computational fluid dynamics code to investigate the computational prediction capabilities for vortex-dominated flow fields of two different tailless aircraft models at large angles of attack and sideslip. These computations are performed with the goal of providing useful stability and control data to designers of high performance aircraft. Appropriate metrics for accuracy, time, and ease of use are determined in consultations with both the LMTAS Advanced Design and Stability and Control groups. Results are obtained and compared to wind-tunnel data for all six components of forces and moments. Moment data is combined to form a "falling leaf" stability analysis. Finally, a handful of viscous simulations were also performed to further investigate nonlinearities and possible viscous effects in the differences between the accumulated inviscid computational and experimental data.

Charlton, Eric F.↗

Predicting microstructurally sensitive fatigue‐crack path in WE43 magnesium using high‐fidelity numerical modeling and three‐dimensional experimental characterization

Abstract Microstructurally small fatigue‐crack growth in polycrystalline materials is highly three‐dimensional due to sensitivity to local microstructural features (e.g., grains). One requirement for modeling microstructurally sensitive crack propagation is establishing the criteria that govern crack evolution, including crack deflection. Here, a high‐fidelity finite‐element modeling framework is used to assess the performance and validity of various crack‐growth criteria, including slip‐based metrics (e.g., fatigue‐indicator parameters), as potential criteria for predicting three‐dimensional crack paths in polycrystalline materials. The modeling framework represents cracks as geometrically explicit discontinuities and involves voxel‐based remeshing, mesh‐gradation control, and a crystal‐plasticity constitutive model. The predictions are compared to experimental measurements of WE43 magnesium samples subject to fatigue loading, for which three‐dimensional grain structures and fatigue‐crack surfaces were measured post‐mortem using near‐field high‐energy x‐ray diffraction microscopy and x‐ray computed tomography. Findings from this work are expected to improve the predictive capabilities of simulations involving microstructurally small fatigue‐crack growth in polycrystalline materials.

Engineering↗

Computational model for predicting the performance of fluid-powered longiudinal piston modules and motors.

A Matlab-based computational model line code has been developed for predicting the performance of fluid-powered longitudinal piston modules and motors. A system of equations has been developed based upon applying the conservation of mass to a control volume defined by a reciprocating piston. The method results in a differential equation that predicts the pressure gradient in the control volume as a function of rotor rotation angle. The model uses an integration scheme to predict the pressure state in the control volume. The orifice equation is used to predict the flowrate in and out of the control volume. From the resulting solution the torque and speed characteristics of the motor configuration can be predicted, optimized, or tailored for a specific requirement.SAND2019-13983 M Sandia National Laboratories is a multimission laboratory managed and operated by National Technology & Engineering Solutions of Sandia, LLC, a wholly owned subsidiary of Honeywell International Inc., for the U.S. Department of Energy’s National Nuclear Security Administration under contract DE-NA0003525.

Taylor, Michael↗

Effect of Anoxic Iron Corrosion on WIPP Brine Geochemistry FY23 Final Report (U)

A 280-day study was completed to evaluate the effect of zero-valent iron (Fe 0 ) on the Waste Isolation Pilot Plant (WIPP) brine geochemistry under anticipated reducing conditions. Hydrogen (H 2 ) gas is expected to be present in the repository after closure due to the anoxic corrosion of a vast quantity of iron contained in the waste forms disposed at WIPP; therefore, a background argon atmosphere containing H 2 was chosen for this study. WIPP groundwater brine pH and E h will impact the mobility and fate of plutonium within the repository. Modeling and laboratory results for Castile WIPP brine indicate that equilibrium fa values relative to the standard hydrogen electrode (SHE) are 40 mV more reducing (i.e., more negative) than those for Salado WIPP brine (-480 mV vs. -440 mV, respectively) because of the higher pH of the Castile brine (pH 9 .3 for Castile vs. pH 8.8 for Salado). The E h and pH data were corrected for the effects of high ionic strength. The experimental results for both brines are consistent with thermodynamic predictions using OLI Systems' Mixed Solvent Electrolyte chemical equilibrium model. The measured and corrected pH and E h data from this study are provided in Table ES-I and Table ES-2, respectively. The experimental study, with four test conditions in triplicate, was performed in a dual glovebox with a nominally 3 vol.% H 2 in argon atmosphere (target H 2 range: 3 ± I vol.%). Simulants containing MgO only ( experimental control) and MgO+Fe 0 (WIPP base case) were prepared for both the Salado and Castile brines. MgO was included in all simulants to account for the use of bulk magnesium oxide in the WIPP repository. Fe 0 was included in some simulants to incorporate the effects of the anoxic corrosion of iron and in-situ hydrogen generation in the study. The brine compositions were developed by Sandia National Laboratory (SNL; Xiong, 2008) and have been used in previous WIPP evaluations. The test method (agitation, etc.) is partially based on ASTM D3987-12. Twelve rounds of periodic measurements of pH and E h were performed over the course of the study. Chemical analysis results for liquids and solids (ICP-MS, ICP-ES, IC Anion, TIC, SEM-EDX) are consistent with the pH, E h , and thermodynamic modeling results. This study included the following conditions that deviate from anticipated post-closure conditions following brine intrusion, but were selected to facilitate bench-scale testing to validate modeling of pH and E h for the post-closure WIP P repository: an anoxic glove box atmosphere containing ≤ 4 vol. % H 2 vs. substantially higher H 2 gas concentrations assumed in the WIPP Performance Assessment (PA); a significantly higher liquid-to-solid test ratio compared to the much lower phase ratio anticipated in the WIP P repository; agitation of the simulant bottles to maximize mass transfer; and finally the use of Fe 0 reagents having a much greater surface area than expected in the WIP P repository. Non-representative conditions were chosen for various reasons such as: to provide bounding conservative results, to provide a margin of safety for testing, or to facilitate simulant sub-sampling and analysis. In a parallel effort, aqueous electrolyte thermodynamic models were developed for the synthetic Salado and Castile brines to inform the experimental design, facilitate laboratory data interpretation, and allow extension of evaluations beyond the parameters tested. Thermodynamic modeling simulations including the MgO and Fe 0 additives that are directly relevant to the experimental measurements (e.g., pH calibration curve, ORP corrections) are included in this report. The measured fa of the simulants was close to the OLI model predictions for both brines and was largely controlled by the background H 2 partial pressure in the vapor phase as well as H 2 generated in situ in the aqueous phase by the Fe 0 corrosion. The H 2 gas-phase concentration tested and thermodynamically evaluated was much lower than is assumed in the WIPP PA; however, H 2 (g) concentrations significantly below this level are still predicted to result in very reducing conditions. In conclusion: • The experimental results are consistent with thermodynamic model predictions for fa, pH, and the effects of high ionic strength. • Evidence to date suggests that the H2 concentration in the glovebox atmosphere ultimately determined the final E h values of the simulants and resulted in highly reducing conditions. As a result, little difference was observed between the control simulants containing only MgO and the WIPP base-case simulants that contained MgO and Fe 0 . • This test methodology is recommended for future studies evaluating WIPP repository conditions. The methodology includes: (1) background H 2 in argon with agitation ( or could alternatively include in-situ-generated H 2 in sealed bottles); (2) carefully measured and corrected ORP data ( with much effort focused on allowing the probes to fully stabilize); and (3) ionic-strength-corrected pH data. Other best practices, such as simulant sparging/handling, ORP probe replacement, etc., should also be considered. • The coupling of experimental studies and thermodynamic modeling is also highly recommended because these methods inform and direct one another leading to greater confidence in and understanding of the results.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Deep generative models for vehicle speed trajectories

Generating realistic vehicle speed trajectories is a crucial component in evaluating vehicle fuel economy and in predictive control of self-driving cars. Traditional generative models rely on Markov chain methods and can produce accurate synthetic trajectories but are subject to the curse of dimensionality. They do not allow to include conditional input variables into the generation process. In this paper, we show how extensions to deep generative models allow accurate and scalable generation. Proposed architectures involve recurrent and feed-forward layers and are trained using adversarial techniques. Our models are shown to perform well on generating vehicle trajectories using a model trained on GPS data from Chicago metropolitan area.

33 ADVANCED PROPULSION SYSTEMS↗

Resistive wall mode stability and resonant field amplification in MAST high beta plasma

The n=1 (n is the toroidal mode number) resistive wall mode (RWM) instability and the resonant field amplification (RFA) due to a stable RWM response are numerically investigated for a MAST high-pressure plasma scenario, utilizing the MARS-F (Liu Y.Q. et al 2000 Phys. Plasmas 7 3681) and MARS-K (Liu Y.Q. et al 2008 Phys. Plasmas 15 112503) codes, for the purpose of understanding the potential RWM behavior in MAST-U plasmas. Ideal kink stability analysis identifies a target plasma, with parameters similar to that of the reference equilibrium reconstructed from a MAST high-pressure discharge, that accesses the RWM regime. The unstable n=1 RWM for the target equilibrium is subject to strong damping by the plasma toroidal flow and/or the drift kinetic effects from thermal particles. As a result, the mode is found to be stable under the experimental flow conditions, or even without flow stabilization if drift kinetic stabilization is included. The stability prediction is robust against variation of the assumed resistive wall minor radius. Active magneto-hydrodynamic (MHD) spectroscopy modeling, using the magnetic coils designed for controlling the edge localized modes (ELMs) in MAST-U as the antenna, shows strong resonant field amplification due to a stable RWM response in the target plasma. Maximal amplification, of 6-7 times larger than the applied vacuum field within the plasma, is obtained assuming a coil phasing of 120-180 degrees between the upper and lower rows of the ELM control coils. The MHD-kinetic hybrid model predicts generally higher RFA than the fluid model, in particular near the low-field and high-field sides of the plasma boundary surface. Furthermore, the MARS-F/K modeling thus shows that the RWM in MAST-U is subject to strong flow and kinetic stabilization, but can nevertheless be detected by active MHD spectroscopy.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

Active Control of Inlet Noise on the JT15D Turbofan Engine

This report presents the key results obtained by the Vibration and Acoustics Laboratories at Virginia Tech over the year from November 1997 to December 1998 on the Active Noise Control of Turbofan Engines research project funded by NASA Langley Research Center. The concept of implementing active noise control techniques with fuselage-mounted error sensors is investigated both analytically and experimentally. The analytical part of the project involves the continued development of an advanced modeling technique to provide prediction and design guidelines for application of active noise control techniques to large, realistic high bypass engines of the type on which active control methods are expected to be applied. Results from the advanced analytical model are presented that show the effectiveness of the control strategies, and the analytical results presented for fuselage error sensors show good agreement with the experimentally observed results and provide additional insight into the control phenomena. Additional analytical results are presented for active noise control used in conjunction with a wavenumber sensing technique. The experimental work is carried out on a running JT15D turbofan jet engine in a test stand at Virginia Tech. The control strategy used in these tests was the feedforward Filtered-X LMS algorithm. The control inputs were supplied by single and multiple circumferential arrays of acoustic sources equipped with neodymium iron cobalt magnets mounted upstream of the fan. The reference signal was obtained from an inlet mounted eddy current probe. The error signals were obtained from a number of pressure transducers flush-mounted in a simulated fuselage section mounted in the engine test cell. The active control methods are investigated when implemented with the control sources embedded within the acoustically absorptive material on a passively-lined inlet. The experimental results show that the combination of active control techniques with fuselage-mounted error sensors and passive control techniques is an effective means of reducing radiated noise from turbofan engines. Strategic selection of the location of the error transducers is shown to be effective for reducing the radiation towards particular directions in the farfield. An analytical model is used to predict the behavior of the control system and to guide the experimental design configurations, and the analytical results presented show good agreement with the experimentally observed results.

Smith, Jerome P.↗

Modeling Snow Ablation over the Western United States Mountains: Patterns and Controlling Factors

When compared with differences in snow accumulation predicted by widely used hydrological models, there is a much greater divergence among otherwise “good” models in their simulation of the snow ablation process. Here, we explore differences in the performance of the Variable Infiltration Capacity model (VIC), Noah land surface model with multiparameterization options (Noah-MP), the Catchment model, and the third-generation Simplified Simple Biosphere model (SiB3) in their ability to reproduce observed snow water equivalent (SWE) during the ablation season at 10 Snowpack Telemetry (SNOTEL) stations over 1992–2012. During the ablation period, net radiation generally has stronger correlations with observed melt rates than does air temperature. Average ablation rates tend to be higher (in both model predictions and observations) at stations with a large accumulation of SWE. The differences in the dates of last snow between models and observations range from several days to approximately a month (on average 5.1 days earlier than in observations). If the surface cover in the models is changed from observed vegetation to bare soil in all of the models, only the melt rate of the VIC model increases. The differences in responses of models to canopy removal are directly related to snowpack energy inputs, which are further affected by different algorithms for surface albedo and energy allocation across the models. We also find that the melt rates become higher in VIC and lower in Noah-MP if the shrub/grass present at the observation sites is switched to trees.

Snow↗

Experiments with simplified computed-torque controllers for free-flying robots

The effect of neglecting base accelerations in an inertial space endpoint computed-torque (CT) controller is examined. Numerical simulations predict a rather wide set of conditions under which CT controllers can neglect base accelerations in their dynamic model with insignificant performance degradation. Two predictions are experimentally verified with a laboratory robot. These two experiments show that negligible additional endpoint controller error results with a simplified CT controller for the given robot mass parameters and manipulator articulation.

Koningstein, R.↗