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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 1,585 records · Page 88
All sourcesNASA NTRSDOE OSTI
DOE OSTI2019

Pressure-induced structural dimerization in the hyperhoneycomb iridate β - Li 2 IrO 3 at low temperatures

A pressure-induced collapse of magnetic ordering in β-Li 2 IrO 3 at P m similar to 1.5-2 GPa has previously been interpreted as evidence for potential emergence of spin liquid states in this hyperhoneycomb iridate, raising prospects for experimental realizations of the Kitaev model. Based on structural data obtained at room temperature, this magnetic transition is believed to originate in small lattice perturbations that preserve crystal symmetry, and related changes in bond-directional anisotropic exchange interactions. In this work, we report on the evolution of the crystal structure of β-Li 2 IrO 3 under pressure at low temperatures (T ≤ 50 K) and show that the suppression of magnetism coincides with a change in lattice symmetry involving Ir-Ir dimerization. The critical pressure for dimerization shifts from 4.4(2) GPa at room temperature to similar to 1.5-2 GPa below 50 K. While a direct Fddd → C-2/c transition is observed at room temperature, the low temperature transitions involve new as well as coexisting dimerized phases. Additional investigation of the Ir (L 3 /L 2 ) isotropic branching ratio in x-ray absorption spectra indicates that the previously reported departure of the electronic ground state from a J eff = 1/2 state is closely related to the onset of dimerized phases. In essence, our results suggest that the predominant mechanism driving the collapse of magnetism in β-Li 2 IrO 3 is the pressure-induced formation of Ir 2 dimers in the hyperhoneycomb network. The results further confirm the instability of the J eff = 1/2 moments and related noncollinear spiral magnetic ordering against formation of dimers in the low-temperature phase of compressed β-Li 2 IrO 3 .

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗
DOE OSTI2025

An alternative method of changing the pulse duration in a stretcher-compressor pair by changing the gas pressure in the compressor

The relatively narrow bandwidth of neodymium glass requires a much larger stretch ratio of chirped-pulse amplification (CPA) systems. This factor, together with a large incident angle on the gratings, makes glass CPA systems extremely sensitive to the refractive index of the medium in the stretcher-compressor. High sensitivity of the stretcher-compressor pair for hybrid optical parametric chirped-pulse amplification and an Nd:glass laser to the refractive index was demonstrated in air, vacuum, and carbon dioxide, and a pulse duration close to the transform limit was reached. An alternative way to change the pulse duration was proposed. The pulse duration from the best compression of 500 fs to 30 ps was smoothly varied by changing the air pressure from 10 -6 Torr to 1 atm in the compressor and up to 52 ps in carbon dioxide, while the stretcher and compressor remained untouched. Finally, excellent agreement of the measured pulse duration with theoretical calculations was demonstrated.

47 OTHER INSTRUMENTATION↗
NASA NTRS1994

A waved journal bearing concept with improved steady-state and dynamic performance

Analysis of the waved journal bearing concept featuring a waved inner bearing diameter for use with a compressible lubricant (gas) is presented. A three wave, waved journal bearing geometry is used to show the geometry of this concept. The performance of generic waved bearings having either three, four, six, or eight waves is predicted for air lubricated bearings. Steady-state performance is discussed in terms of bearing load capacity, while the dynamic performance is discussed in terms of dynamic coefficients and fluid film stability. It was found that the bearing wave amplitude has an important influence on both steady-state and dynamic performance of the waved journal bearing. For a fixed eccentricity ratio, the bearing steady-state load capacity and direct dynamic stiffness coefficient increase as the wave amplitude increases. Also, the waved bearing becomes more stable as the wave amplitude increases. In addition, increasing the number of waves reduces the waved bearing's sensitivity to the direction of the applied load relative to the wave. However, the range in which the bearing performance can be varied decreases as the number of waves increases. Therefore, both the number and the amplitude of the waves must be properly selected to optimize the waved bearing design for a specific application. It is concluded that the stiffness of an air bearing, due to the hydrodynamic effect, could be doubled and made to run stably by using a six or eight wave geometry with a wave amplitude approximately half of the bearing radial clearance.

Dimofte, Florin↗
NASA NTRS2005

Buckling of Carbon Nanotube-Reinforced Polymer Laminated Composite Materials Subjected to Axial Compression and Shear Loadings

A multi-scale method to predict the stiffness and stability properties of carbon nanotube-reinforced laminates has been developed. This method is used in the prediction of the buckling behavior of laminated carbon nanotube-polyethylene composites formed by stacking layers of carbon nanotube-reinforced polymer with the nanotube alignment axes of each layer oriented in different directions. Linking of intrinsic, nanoscale-material definitions to finite scale-structural properties is achieved via a hierarchical approach in which the elastic properties of the reinforced layers are predicted by an equivalent continuum modeling technique. Solutions for infinitely long symmetrically laminated nanotube-reinforced laminates with simply-supported or clamped edges subjected to axial compression and shear loadings are presented. The study focuses on the influence of nanotube volume fraction, length, orientation, and functionalization on finite-scale laminate response. Results indicate that for the selected laminate configurations considered in this study, angle-ply laminates composed of aligned, non-functionalized carbon nanotube-reinforced lamina exhibit the greatest buckling resistance with 1% nanotube volume fraction of 450 nm uniformly-distributed carbon nanotubes. In addition, hybrid laminates were considered by varying either the volume fraction or nanotube length through-the-thickness of a quasi-isotropic laminate. The ratio of buckling load-to-nanotube weight percent for the hybrid laminates considered indicate the potential for increasing the buckling efficiency of nanotube-reinforced laminates by optimizing nanotube size and proportion with respect to laminate configuration.

Riddick, J. C.↗
NASA NTRS1992

Navier-Stokes computations of cavity aeroacoustics with suppression devices

Effectiveness of two devices to suppress the cavity acoustics was computationally investigated. Two dimensional, computational simulations were performed for the transonic, turbulent flows past a cavity, which was first equipped with a rear face ramp and then with a spoiler. The Reynolds-averaged, unsteady, compressible, full Navier-Stokes equations were solved time accurately by a second-order accurate, implicit, upwind, finite-volume method. The effect of turbulence was included through a Baldwin-Lomax model with modifications for the multiple-wall effects and for the highly vortical flow with a shear layer. The results included instantaneous and time-averaged flow properties, and time-series analyses of the pressure inside the cavity, which compared favorably with the available experimental data. These results were also contrasted with the computed aeroacoustics of the same cavity (length-to-depth ratio of 4.5), but without a device, to demonstrate the suppression effectiveness.

Baysal, Oktay↗
DOE OSTI2024

Simulated signatures of ignition

Ignition on the National Ignition Facility (NIF) provides a novel opportunity to evaluate past data to identify signatures of capsule failure mechanisms. We have used new simulations of high-yield implosions as well as some from past studies in order to identify unique signatures of different ignition failure mechanisms: jetting due to the presence of voids or defects, jetting due to the capsule fill tube, interfacial mixing due to instabilities or due to plasma transport, radiative cooling due to the presence of contaminant in the hot spot, long-wavelength drive asymmetry, and preheat. Many of these failure mechanisms exhibit unique trajectories that can be distinguished through variations in experimental observables such as neutron yield, down-scattered ratio (DSR), and burn width. Our simulations include capsules using both plastic and high-density carbon ablators and span all high-yield designs considered since the beginning of the National Ignition Campaign in 2011. We observe that the variability in trajectories through the space of neutron yield, DSR, and burn width varies little across capsule design yet are unique to the failure mechanism. The experimental trajectories are most consistent with simulated preheat and jetting due to voids and defects, which are the only failure mechanisms that are indistinguishable in our analysis. This suggests that improvements to capsule compression due to improved capsule quality or reduced preheat have played a primary role in enabling high yields on NIF. Furthermore, our analysis suggests that further improvements have the potential to increase yields further.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2022

High pressure structural phase transitions in Dysprosium to 202 GPa

High pressure structural phase transitions in heavy lanthanide metal Dysprosium (Dy) have been studied to 202 GPa (Volume Compression V/V 0 = 0.36) in a diamond anvil cell employing copper as an internal x-ray pressure standard. The previously assigned monoclinic (C2/m) phase above 72 GPa has been reexamined and assigned to an orthorhombic phase with sixteen atoms per cell (oF16) based on structural refinements. The equation of state is presented to 202 GPa and indicates a volume change of 2.3% during the structural phase transition from distorted face-centered cubic (hR24) phase to oF16 phase at 72 GPa. The oF16 phase can be regarded as a pseudo-orthorhombic eight-layered structure with (b/c) ratio decreasing from an ideal value of $\sqrt{3}$ with increasing pressure to 202 GPa. The ultrahigh pressure structural phases of Dy are compared with other members of the lanthanide series.

36 MATERIALS SCIENCE↗
NASA NTRS1986

Tactical missile aerodynamics

The present conference on tactical missile aerodynamics discusses autopilot-related aerodynamic design considerations, flow visualization methods' role in the study of high angle-of-attack aerodynamics, low aspect ratio wing behavior at high angle-of-attack, supersonic airbreathing propulsion system inlet design, missile bodies with noncircular cross section and bank-to-turn maneuvering capabilities, 'waverider' supersonic cruise missile concepts and design methods, asymmetric vortex sheding phenomena from bodies-of-revolution, and swept shock wave/boundary layer interaction phenomena. Also discussed are the assessment of aerodynamic drag in tactical missiles, the analysis of supersonic missile aerodynamic heating, the 'equivalent angle-of-attack' concept for engineering analysis, the vortex cloud model for body vortex shedding and tracking, paneling methods with vorticity effects and corrections for nonlinear compressibility, the application of supersonic full potential method to missile bodies, Euler space marching methods for missiles, three-dimensional missile boundary layers, and an analysis of exhaust plumes and their interaction with missile airframes.

Hemsch, Michael J.↗
NASA NTRS2000

A gas-kinetic BGK scheme for the compressible Navier-Stokes equations

This paper presents an improved gas-kinetic scheme based on the Bhatnagar-Gross-Krook (BGK) model for the compressible Navier-Stokes equations. The current method extends the previous gas-kinetic Navier-Stokes solver developed by Xu and Prendergast by implementing a general nonequilibrium state to represent the gas distribution function at the beginning of each time step. As a result, the requirement in the previous scheme, such as the particle collision time being less than the time step for the validity of the BGK Navier-Stokes solution, is removed. Therefore, the applicable regime of the current method is much enlarged and the Navier-Stokes solution can be obtained accurately regardless of the ratio between the collision time and the time step. The gas-kinetic Navier-Stokes solver developed by Chou and Baganoff is the limiting case of the current method, and it is valid only under such a limiting condition. Also, in this paper, the appropriate implementation of boundary condition for the kinetic scheme, different kinetic limiting cases, and the Prandtl number fix are presented. The connection among artificial dissipative central schemes, Godunov-type schemes, and the gas-kinetic BGK method is discussed. Many numerical tests are included to validate the current method.

Xu, Kun↗
NASA NTRS1947

The Effect of High Solidity on Propeller Characteristics at High Forward Speeds from Wind-Tunnel Tests of the NACA 4-(3)(06.3)-06 and NACA 4-(3)(06.4)-09 Two-Blade Propellers

Tests of two-blade propellers having the NACA 4-(3)(06.3)-06 and NACA 4-(3)(06.4)-09 blade designs (blade activity factors of 179 and 263, respectively) have been made in the Langley 8-foot high-speed tunnel through a range of blade angle from 20 degrees to 70 degrees for free-stream Mach numbers from 0.165 to 0.725 to determine the effects of high solidity and compressibility on propeller characteristics. The tests are part of a general investigation of propellers at high forward speeds. Results previously reported for similar tests of two-blade propellers having the NACA 4-308-03 and NACA 4-308-045 blade designs (blade activity factors of 87 and 133, respectively) are included for comparison. The results showed that the 0.06- and 0.09-solidity blades, although producing efficiencies of the order of 90 percent, were less efficient than blades of conventional solidity. The variation in average blade lift coefficient with solidity at a constant blade angle and advance-diameter ratio through the speed range of these tests was found to be analogous to the variation of wing lift coefficient with aspect ratio, indicating that high-solidity blades may be desirable at very high speeds. Because of power limitations of the test equipment, conclusive evidence of the possible favorable effects of increased blade solidity at high speeds was not obtained. Further tests are desirable.

Delano, James B.↗
DOE OSTI2025

Detecting Process Equipment Failures Using Acoustic Data and Machine Learning

Nuclear power plant (NPP) process equipment such as fans, motors, valves, and pumps generate frequent or continuous noise, and deviations from the normal operational sounds made by this equipment can indicate potential issues. These deviations can be identified via automated acoustic anomaly detection, which involves using acoustic sensors (i.e., microphones) alongside detection algorithms to continuously monitor for changes in acoustic signatures. This task is made challenging by the substantial background noise that exists, such as operators opening and closing doors, manipulating valves, and conversing—in addition to typical plant noises. In collaboration with a nuclear power utility partner, this effort assessed the efficacy of acoustic anomaly detection when using a specific acoustic sensor that compresses data into a fixed set of features that are transferable over a standard Internet of Things communication protocol, thereby improving usability but potentially degrading detection performance. Two methods of performing automated acoustic anomaly detection were evaluated: one-class support vector machine (OC-SVM) and isolation forest (iForest). To enable the use of high-quality acoustic data encompassing both normal and anomalous conditions, the study utilized the publicly available Malfunctioning Industrial Machine Investigation and Inspection dataset, which includes real measured acoustic sensor data for a range of equipment types, model numbers, and signal-to-noise ratios (SNRs), along with a benchmark set of detection results. Using this dataset, the methods were tested and then compared against the benchmark results. The results indicated that although the specific acoustic sensor did not enable as rich a feature set extraction, the proposed methods with the limited feature set performed just as well. This provides solid justification for both the methods and the use of the proposed acoustic sensor.

46 - INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AN↗
DOE OSTI2019

Neutronics Calculations for a Hypothetical Plasma-Jet-Driven Magneto-Inertial-Fusion Reactor

We present neutronics calculations for a hypothetical fusion reactor based on the repetitively pulsed concept of plasma-jet-driven magneto-inertial fusion (PJMIF). A PJMIF reactor is envisioned to have a replaceable, 3-m-radius spherical metal first wall exposed to 14.1-MeV neutrons, a fast-flowing FLiBe liquid blanket (with thickness 0.75 m) behind the first wall serving as the primary coolant and tritium-breeding medium, and finally an outer structural spherical wall shielded by the blanket. Cylindrical penetrations through both walls and the flowing blanket allow for hundreds of plasma-gun drivers to inject hypersonic plasma jets that form both the DT plasma target and high-Z spherically imploding plasma liner to compress the target. This research is the first to conduct Monte Carlo N Particle (MCNP6.2) and CINDER2008 neutronics calculations relevant to the PJMIF reactor configuration, with the primary objectives of (1) determining the neutron flux as a function of blanket thickness in the blanket and key reactor components and (2) the tritium production rate in the liquid blanket. These results will be used to estimate other quantities of interest, such as first-wall and gun-electrode lifetimes based on DPA accumulation, optimum blanket thickness, activation level of the outer wall and xenon liner, and achievable tritium-breeding ratios. Energy dependent flux tallies were used to calculate neutron flux inside the FLiBe blanket and outer wall, as well as the cylindrical ports where plasma guns are located. Tally multipliers of the flux in MCNP6.2 estimated tritium breeding ratio, DPA, and nuclear heating, while the depletion code CINDER2008 was used to compare tritium breeding ratios with MCNP6.2 and calculate activation of the outer wall and xenon liner. These calculations provide a baseline for blanket requirements necessary for power production in a PJMIF reactor.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2018

Tuning magnetic coercivity with external pressure in iron-rhenium based ferrimagnetic double perovskites

We studied the effect of physical pressure on the electronic and magnetic properties of ferrimagnetic double perovskites A 2 FeReO 6 (A = Ca, Ba) using Re L 2,3 edge x-ray absorption spectroscopy and powder diffraction measurements. Volume compression is shown to dramatically increase the magnetic coercivity (H c ) in polycrystalline samples of both compounds with ΔH c /ΔV similar to 150-200 Oe/Å 3 . A nearly eight-fold increase in H c , from 0.2 to 1.55 T, is obtained in Ba 2 FeReO 6 at P = 29 GPa. While no signs of structural phase transitions are seen in either sample to similar to 30 GPa, the structural data points to a pressure-driven increase in tetragonal distortion of ReO 6 octahedra. A sizable but pressure-independent Re orbital-to-spin magnetic moment ratio is observed, pointing to the critical role of spin-orbit interactions at Re sites. We present a J(eff) description of the electronic structure that combines effects of crystal field and spin-orbit coupling on the Re 5d 2 orbitals and use this description to provide insight into the pressure-induced enhancement of magnetic anisotropy.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗
DOE OSTI2022

Super-resolution and segmentation deep learning for breast cancer histopathology image analysis

Traditionally, a high-performance microscope with a large numerical aperture is required to acquire high-resolution images. However, the images’ size is typically tremendous. Therefore, they are not conveniently managed and transferred across a computer network or stored in a limited computer storage system. As a result, image compression is commonly used to reduce image size resulting in poor image resolution. Here, we demonstrate custom convolution neural networks (CNNs) for both super-resolution image enhancement from low-resolution images and characterization of both cells and nuclei from hematoxylin and eosin (H&E) stained breast cancer histopathological images by using a combination of generator and discriminator networks so-called super-resolution generative adversarial network-based on aggregated residual transformation (SRGAN-ResNeXt) to facilitate cancer diagnosis in low resource settings. The results provide high enhancement in image quality where the peak signal-to-noise ratio and structural similarity of our network results are over 30 dB and 0.93, respectively. The derived performance is superior to the results obtained from both the bicubic interpolation and the well-known SRGAN deep-learning methods. In addition, another custom CNN is used to perform image segmentation from the generated high-resolution breast cancer images derived with our model with an average Intersection over Union of 0.869 and an average dice similarity coefficient of 0.893 for the H&E image segmentation results. Finally, we propose the jointly trained SRGAN-ResNeXt and Inception U-net Models, which applied the weights from the individually trained SRGAN-ResNeXt and inception U-net models as the pre-trained weights for transfer learning. The jointly trained model’s results are progressively improved and promising. We anticipate these custom CNNs can help resolve the inaccessibility of advanced microscopes or whole slide imaging (WSI) systems to acquire high-resolution images from low-performance microscopes located in remote-constraint settings.

60 APPLIED LIFE SCIENCES↗
NASA NTRS1986

Low density gas dynamic wall boundary conditions

Low density nozzles or large expansion ratio nozzles used in space experience rarefaction effects near their exit in the form of velocity slip and temperature jump at the walls. In addition, the boundary layers become very thick and there is a very strong viscous/inviscid interaction. For these reasons no existing design technique has been found to accurately predict the nozzle flow properties up to the nozzle exit. The objective of this investigation was to examine the slip boundary conditions and formulate them in a form appropriate for use with a full Navier-Stokes numerical code. The viscous/inviscid interaction would automatically be accounted for by using a compressible Navier-Stokes code. Through examination of the interaction of molecules with solid surfaces, a model for the distribution function of the reflected molecules has been determined and this distribution function has been used to develop a new slip boundary condition that can be shown to yield more realistic surface boundary conditions.

Collins, F. G.↗
NASA NTRS1997

Evaluation of an Ejector Ramjet Based Propulsion System for Air-Breathing Hypersonic Flight

A Rocket Based Combined Cycle (RBCC) engine system is designed to combine the high thrust to weight ratio of a rocket along with the high specific impulse of a ramjet in a single, integrated propulsion system. This integrated, combined cycle propulsion system is designed to provide higher vehicle performance than that achievable with a separate rocket and ramjet. The RBCC engine system studied in the current program is the Aerojet strutjet engine concept, which is being developed jointly by a government-industry team as part of the Air Force HyTech program pre-PRDA activity. The strutjet is an ejector-ramjet engine in which small rocket chambers are embedded into the trailing edges of the inlet compression struts. The engine operates as an ejector-ramjet from takeoff to slightly above Mach 3. Above Mach 3 the engine operates as a ramjet and transitions to a scramjet at high Mach numbers. For space launch applications the rockets would be re-ignited at a Mach number or altitude beyond which air-breathing propulsion alone becomes impractical. The focus of the present study is to develop and demonstrate a strutjet flowpath using hydrocarbon fuel at up to Mach 7 conditions.

Thomas, Scott R.↗
DOE OSTI2017

Analysis of the Factors Contributing to Vertebral Compression Fractures After Spine Stereotactic Radiosurgery

Purpose: To determine our institutional vertebral compression fracture (VCF) rate after spine stereotactic radiosurgery (SRS) and determine contributory factors. Methods and Materials: Retrospective analysis from 2001 to 2013 at a single institution was performed. With institutional review board approval, electronic medical records of 1905 vertebral bodies from 791 patients who were treated with SRS for the management of primary or metastatic spinal lesions were reviewed. A total of 448 patients (1070 vertebral bodies) with adequate follow-up imaging studies available were analyzed. Doses ranging from 10 Gy in 1 fraction to 60 Gy in 5 fractions were delivered. Computed tomography and magnetic resonance imaging were used to evaluate the primary endpoints of this study: development of a new VCF, progression of an existing VCF, and requirement of stabilization surgery after SRS. Results: A total of 127 VCFs (11.9%; 95% confidence interval [CI] 9.5%-14.2%) in 97 patients were potentially SRS induced: 46 (36%) were de novo, 44 (35%) VCFs progressed, and 37 (29%) required stabilization surgery after SRS. Our rate for radiologic VCF development/progression (excluding patients who underwent surgery) was 8.4%. Upon further exclusion of patients with hematologic malignancies the VCF rate was 7.6%. In the univariate analyses, females (hazard ratio [HR] 1.54, 95% CI 1.01-2.33, P=.04), prior VCF (HR 1.99, 95% CI 1.30-3.06, P=.001), primary hematologic malignancies (HR 2.68, 95% CI 1.68-4.28, P<.001), thoracic spine lesions (HR 1.46, 95% CI 1.02-2.10, P=.02), and lytic lesions had a significantly increased risk for VCF after SRS. On multivariate analyses, prior VCF and lesion type remained contributory. Conclusions: Single-fraction SRS doses of 16 to 18 Gy to the spine seem to be associated with a low rate of VCFs. To the best of our knowledge, this is the largest reported experience analyzing SRS-induced VCFs, with one of the lowest event rates reported.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
NASA NTRS2025

Mechanics of Preloaded Bolt Tensile Loading With Focus on Load Introduction Factor

The bolt tensile and joint separation loads are directly influenced by the locations at which the external loads enter the clamped members of a preloaded bolted joint (PBJ) and the associated load-paths through the joint. This physical load introduction mechanism affecting the bolt tensile loading is typically represented in the bolt tensile load equation, in part, by a load introduction factor (LIF), which was shown by H.M. Lee of Marshall Spaceflight Center to be a natural product of the bolt tensile load equation using a linear spring stiffness model. This LIF, being a function of load-path stiffness, has subsequently been denoted as the stiffness-based LIF (SBLIF), providing a framework to calculate the LIF using whatever load-path stiffness approximations are appropriate. Expanding upon the work of Lee, it is shown that the SBLIF and the joint stiffness factor are functions of the stiffnesses of the same load-paths and regions within a PBJ, and thus they should not be treated as independent variables. Mathematical expressions for the SBLIF are presented. Comparisons are shown between the analytically calculated SBLIF, the analytically calculated geometric LIF (GLIF), which is a simple clamped-member thickness ratio, the experimentally derived LIF, and the LIF determined by finite element analysis (FEA). Using experiment and FEA as a benchmark, the SBLIF, using traditional load-path stiffness approximations, enables a more accurate prediction of bolt tensile loading than the GLIF, although it can be unconservative near joint separation. The GLIF generally attributes more of the externally applied tensile load to the bolt than does the SBLIF, potentially resulting in heavier and/or more costly bolted joints. Mathematical relationships between the SBLIF and the GLIF are developed. Supplemental material is provided in the appendixes where the historical practice of using the joint compressive stiffness in place of the joint tensile stiffness is evaluated. The appendixes include step-by-step examples demonstrating the calculation of the SBLIF using traditional stiffness approximations and conclude with the development of the joint diagram in terms of the SBLIF, culminating into formulas for the key features of a joint diagram, which is useful for programming.

Load Path↗