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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 19 records

RISE: Reducing I/O Contention in Staging-based Extreme-Scale In-situ Workflows

While in-situ workflow formulations have addressed some of the data-related challenges associated with extreme-scale scientific workflows, these workflows involve complex interactions and different modes of data exchange. In the context of increasing system complexity, such workflows present significant resource management challenges, requiring complex cost-performance tradeoffs. This paper presents RISE, an intelligent staging-based data management middleware, which builds on the DataSpaces framework and performs intelligent scheduling of data management operations to reduce I/O contention. In RISE, data are always written immediately to local buffers to reduce the effect of the transfer impact upon application performance. RISE identifies applications’ data access patterns and moves data towards data consumers only when the network is expected to be idle, reducing the impact of asynchronous background data movement upon critical data read/write requests. Here, we experimentally demonstrate that RISE can take advantage of staging nodes to offload data during writes without degrading application data movement performance.

97 MATHEMATICS AND COMPUTING↗

Quantitative Precipitation Estimation of Extremes in CONUS With Radar Data

When constructing an accurate, continental, in-situ-based, kilometer-scale, long-term record of the precipitation field and its spatiotemporal changes remains a significant challenge. Here, we determine the extreme-value behavior of the NEXRAD Stage IV radar-based quantitative precipitation estimate. We find that the climatology of 5-year daily return values in the contiguous United States East of the Rocky Mountains shows only slight variability on spatial scales smaller than (Formula presented.) ~100 km. In light of this finding, we test whether rain-gauge-only daily precipitation data sets can produce accurate extreme-value behavior at spatial scales finer than the spacing between gauges. We find that the 5-year daily return values are accurate at locations far from rain gauges only if the interpolation between gauges is carried out appropriately for extremes. Precipitation statistics derived from in-situ rain gauge data are therefore of sufficient spatial resolution to faithfully capture daily extremes over much of the eastern United States.

54 ENVIRONMENTAL SCIENCES↗

High Resolution Global Climate Modeling with GEOS-5: Intense Precipitation, Convection and Tropical Cyclones on Seasonal Time-Scales.

In 2008 the World Modeling Summit for Climate Prediction concluded that "climate modeling will need-and is ready-to move to fundamentally new high-resolution approaches to capitalize on the seamlessness of the weather-climate continuum." Following from this, experimentation with very high-resolution global climate modeling has gained enhanced priority within many modeling groups and agencies. The NASA Goddard Earth Observing System model (GEOS-5) has been enhanced to provide a capability for the execution at the finest horizontal resolutions POS,SIOle with a global climate model today. Using this high-resolution, non-hydrostatic version of GEOS-5, we have developed a unique capability to explore the intersection of weather and climate within a seamless prediction system. Week-long weather experiments, to mUltiyear climate simulations at global resolutions ranging from 3.5- to 14-km have demonstrated the predictability of extreme events including severe storms along frontal systems, extra-tropical storms, and tropical cyclones. The primary benefits of high resolution global models will likely be in the tropics, with better predictions of the genesis stages of tropical cyclones and of the internal structure of their mature stages. Using satellite data we assess the accuracy of GEOS-5 in representing extreme weather phenomena, and their interaction within the global climate on seasonal time-scales. The impacts of convective parameterization and the frequency of coupling between the moist physics and dynamics are explored in terms of precipitation intensity and the representation of deep convection. We will also describe the seasonal variability of global tropical cyclone activity within a global climate model capable of representing the most intense category 5 hurricanes.

Putnam, WilliamM.↗

Mapping Boreal Forest Spruce Beetle Health Status at the Individual Crown Scale Using Fused Spectral and Structural Data

The frequency and severity of spruce bark beetle outbreaks are increasing in boreal forests leading to widespread tree mortality and fuel conditions promoting extreme wildfire. Detection of beetle infestation is a forest health monitoring (FHM) priority but is hampered by the challenges of detecting early stage (“green”) attack from the air. There is indication that green stage might be detected from vertical gradients of spectral data or from shortwave infrared information distributed within a single crown. To evaluate the efficacy of discriminating “non-infested”, “green”, and “dead” health statuses at the landscape scale in Alaska, USA, this study conducted spectral and structural fusion of data from: (1) Unoccupied aerial vehicle (UAV) multispectral (6 cm) + structure from motion point clouds (~700 pts per sq. m); and (2) Goddard Lidar Hyperspectral Thermal (G-LiHT) hyperspectral (400 to 1000 nm, 0.5 m) + SWIR-band lidar (~32 pts per sq.m). We achieved 78% accuracy for all three health statuses using spectral + structural fusion from either UAV or G-LiHT and 97% accuracy for non-infested/dead using G-LiHT. We confirm that UAV 3D spectral (e.g., greenness above versus below median height in crown) and lidar apparent reflectance metrics (e.g., mean reflectance at 99th percentile height in crown), are of high value, perhaps capturing the vertical gradient of needle degradation. In most classification exercises, UAV accuracy was lower than G-LiHT indicating that collecting ultra-high spatial resolution data might be less important than high spectral resolution information. While the value of passive optical spectral information was largely confined to the discrimination of non-infested versus dead crowns, G-LiHT hyperspectral band selection (~400, 675, 755, and 940 nm) could inform future FHM mission planning regarding optimal wavelengths for this task. Interestingly, the selected regions mostly did not align with the band designations for our UAV multispectral data but do correspond to, e.g., Sentinel-2 red edge bands, suggesting a path forward for moderate scale bark beetle detection when paired with suitable structural data.

Janice Cessna↗

Extending the Dynamic Range of Galaxy Outflow Scaling Relations: Massive Compact Galaxies with Extreme Outflows

We investigate galactic winds in the HizEA galaxies, a collection of 46 late-stage galaxy mergers at z = 0.4–0.8, with stellar masses of $\mathrm{log}({M}_{* }/{M}_{\odot })=10.4\mbox{--}11.5$ , star formation rates (SFRs) of 20–500 M ⊙ yr -1 , and ultra-compact (a few 100 pc) central star-forming regions. We measure their gas kinematics using the Mg II λλ 2796,2803 absorption lines in optical spectra from MMT, Magellan, and Keck. We find evidence of outflows in 90% of targets, with maximum outflow velocities of 550–3200 km s -1 . We combine these data with ten samples from the literature to construct scaling relations for outflow velocity versus SFR, star formation surface density (Σ SFR ), M * , and SFR/M * . The HizEA galaxies extend the dynamic range of the scaling relations by a factor of ~2–4 in outflow velocity and an order of magnitude in SFR and Σ SFR . The ensemble scaling relations exhibit strong correlations between outflow velocity, SFR, SFR/R, and Σ SFR , and weaker correlations with M * and SFR/M * . The HizEA galaxies are mild outliers on the SFR and M* scaling relations, but they connect smoothly with more typical star-forming galaxies on plots of outflow velocity versus SFR/R and Σ SFR . These results provide further evidence that the HizEA galaxies' exceptional outflow velocities are a consequence of their extreme star formation conditions rather than hidden black hole activity, and they strengthen previous claims that Σ SFR is one of the most important properties governing the velocities of galactic winds.

79 ASTRONOMY AND ASTROPHYSICS↗

Running Ensemble Workflows at Extreme Scale: Lessons Learned and Path Forward

The ever-increasing volumes of scientific data combined with sophisticated techniques for extracting information from them have led to the increasing popularity of ensemble workflows which are a collection of runs of individual workflows. A traditional approach followed by scientists to run ensembles is to rely on simple scripts to execute different runs and manage resources. This approach is not scalable and is error-prone, thereby motivating the development of workflow management systems that specialize in executing ensembles on HPC clusters. However, when the size of both the ensemble and the target system reach extreme scales, existing workflow management systems face new challenges that hamper their efficient execution. In this paper, we describe our experience scaling an ensemble workflow from the computational biology domain from the early design stages to the execution at extreme scale on Summit, a leadership class supercomputer at the Oak Ridge National Laboratory. We discuss challenges that arise when scaling ensembles to several million runs on thousands of HPC nodes. We identify challenges with composition of the ensemble itself, its execution at large scale, post-processing of the generated data, and scalability of the file system. Based on the experience acquired, we develop a generic vision of the capabilities and abstractions to add to existing workflow management systems to enable the execution of ensemble workflows at extreme scales. We believe that the understanding of these fundamental challenges will help application teams along with workflow system developers with designing the next generation of infrastructure for composing and executing extreme-scale ensemble workflows.

Mehta, Kshitij↗

Performance of Convection-Permitting and Convection-Parameterized Models in Reproducing the Extreme Precipitation Intensity Relationship with Surface Conditions

Here, this study investigates the warm-season extreme precipitation–temperature scaling relationship in CONUS404, a convection-permitting (4 km) Weather Research and Forecasting (WRF) Model simulation over the conterminous United States for the past four decades, and compares it with the WRF-Thermodynamic Global Warming (WRF-TGW) historical simulation at a coarser resolution (12 km) using parameterized convection. We also analyze the NCEP stage IV and NASA Integrated Multi-satellitE Retrievals for the Global Precipitation Measurement (IMERG) datasets as observational benchmarks. We examine how extreme precipitation intensity (EPI) varies with temperature and saturation deficit over representative regions based on hourly data. The stage IV and IMERG data show a similar pattern of EPI variation with temperature and saturation deficit, except that the EPI peak is lower in IMERG than in stage IV. Under dry and hot conditions, EPI decreases too rapidly with elevated saturation deficit in both CONUS404 and WRF-TGW compared to observations, but the performance of CONUS404 is superior to WRF-TGW. When the near-surface atmosphere is saturated or close to saturated, both CONUS404 and WRF-TGW produce higher peak values of EPI relative to the observational references; IMERG exhibits scaling rates close to the Clausius–Clapeyron (C–C) relationship, while CONUS404, WRF-TGW, and stage IV all demonstrate super-C–C scaling behaviors. Despite marked warming over the past four decades, in both CONUS404 and WRF-TGW, the scaling relationship between EPI and temperature in a saturated atmosphere remains stable and robust. This indicates a strong potential for the EPI–temperature scaling rate under saturation to be used as an emergent constraint in reducing uncertainties of future extreme precipitation projection.

Atmosphere↗

Dynamical Downscaling of Earth System Model Data for Energy System Analysis

Assessing energy resources (e.g., solar, wind, and hydro) under future scenarios requires datasets with sufficient spatial and temporal detail to capture variability and extreme events. While global-scale Earth System Model (ESM) projections are widely used, their coarse resolution limits direct application to regional energy system analyses. Dynamical downscaling offers a robust approach to generate physically consistent, fine-scale datasets that better represent local atmospheric processes impacting energy resources. In this work, we present a two-stage approach for producing high-resolution historical and future projections over the contiguous United States (CONUS). First, we optimize the Weather Research and Forecasting (WRF) model configuration for energy-relevant variables - solar irradiance, wind speed, and precipitation - by conducting ERA5-driven simulations at 8-km and 28-km resolution. Multiple physics schemes and model configurations within the WRF are evaluated against observational datasets including the National Solar Radiation Database (NSRDB), the Parameter-elevation Regressions on Independent Slopes Model (PRISM), and the Stage IV multi-radar/multi-sensor precipitation product for the CONUS domain. Using the best-performing configuration, we dynamically downscale MPI-ESM1-2-HR simulations for 2000-2060 under SSP2-4.5 and SSP5-8.5 scenarios at 4-km spatial and hourly temporal resolution. This presentation will provide a comprehensive analysis of the results from multiple numerical experiments and high-resolution ESM projections. In addition, we will discuss potential applications of our high-resolution datasets within the energy sector and outline future research avenues dedicated to evaluating how extreme weather events influence system performance and resilience.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Optical Measurement Techniques for Rocket Engine Testing and Component Applications: Digital Image Correlation and Dynamic Photogrammetry

NASA Marshall Space Flight Center (MSFC) has been advancing dynamic optical measurement systems, primarily Digital Image Correlation, for extreme environment rocket engine test applications. The Digital Image Correlation (DIC) technology is used to track local and full field deformations, displacement vectors and local and global strain measurements. This technology has been evaluated at MSFC through lab testing to full scale hotfire engine testing of the J-2X Upper Stage engine at Stennis Space Center. It has been shown to provide reliable measurement data and has replaced many traditional measurement techniques for NASA applications. NASA and AMRDEC have recently signed agreements for NASA to train and transition the technology to applications for missile and helicopter testing. This presentation will provide an overview and progression of the technology, various testing applications at NASA MSFC, overview of Army-NASA test collaborations and application lessons learned about Digital Image Correlation.

Gradl, Paul↗

Ares I and Ares I-X Stage Separation Aerodynamic Testing

The aerodynamics of the Ares I crew launch vehicle (CLV) and Ares I-X flight test vehicle (FTV) during stage separation was characterized by testing 1%-scale models at the Arnold Engineering Development Center s (AEDC) von Karman Gas Dynamics Facility (VKF) Tunnel A at Mach numbers of 4.5 and 5.5. To fill a large matrix of data points in an efficient manner, an injection system supported the upper stage and a captive trajectory system (CTS) was utilized as a support system for the first stage located downstream of the upper stage. In an overall extremely successful test, this complex experimental setup associated with advanced postprocessing of the wind tunnel data has enabled the construction of a multi-dimensional aerodynamic database for the analysis and simulation of the critical phase of stage separation at high supersonic Mach numbers. Additionally, an extensive set of data from repeated wind tunnel runs was gathered purposefully to ensure that the experimental uncertainty would be accurately quantified in this type of flow where few historical data is available for comparison on this type of vehicle and where Reynolds-averaged Navier-Stokes (RANS) computational simulations remain far from being a reliable source of static aerodynamic data.

Pinier, Jeremy T.↗

Hybrid Analysis of Fusion Data for Online Understanding of Complex Science on Extreme Scale Computers

The current practice for fusion scientists running first principle simulations on high performance computing plat-forms is to either run their simulations and output their data for post-hoc analysis, or to place in situ analytics into their code. In this paper we examine a complex workflow using XGC fusions simulation run on the Oak Ridge Leadership Computing Facility's supercomputer Summit, which also involve three anal-yses as part of the results necessary for scientific discovery. We discuss the challenges faced when implementing these algorithms and present an original hybrid staging technique to help enable the physicists to make discoveries during the execution of the simulation. By creating this infrastructure, we can examine complicated physics results, which may not have been possible without the infrastructure. For example, our work enables the online visualization of turbulent homoclinic tangle around the magnetic X-point, breaking the last confinement surface. This visualization could help fusion scientists to better understand and improve the turbulence spread of plasma exhaust heat, which is crucial toward realizing plasmas beyond the currently accessible physics regimes of present-day tokamak reactors. The physics of turbulent homoclinic tangle will be reported in a future physics publication, by utilizing the original online analysis/visualization framework presented in this paper.

Suchyta, Eric↗

Signature extension for sun angle, volume 1

The author has identified the following significant results. Within a restricted zenith sun angle range of 35 - 50 degrees, it was empirically observed that canopy reflectance is mainly Lambertian. Reflectance changes with crop stage were simple shifts in scale in the sun angle range. It was noted that sun angle variations depend on canopy characteristics. Effects of the vegetative canopy were most pronounced at the larger solar zenith angles (20 %). The linear sun angle correction coefficients demonstrate a dependency on both crop stage (15-20 %) and crop type (10-20 %). The use of canopy reflectance modeling allowed for the generation of a simulated data set over an extremely broad envelope of sun angles.

Smith, J. A.↗

Converging towards atomic and nuclear pressures (Final Report)

his report details the development of transformational tools and techniques, allowing the accurate characterization of matter at the most extreme conditions yet studied in the high energy density (HED) domain. Before this work, most experiments quantitatively mapping the nature of matter in the HED realm were performed using planar geometry, which allows for the isolation and measurement of variables in a single thermodynamic state. Such measurements include equation of state variables, optical conductivity, heat transport and more. However, due to a variety of plasma processes, such experiments are limited to below ~10 TPa (100 Mbar) pressures. To achieve higher pressures, convergent experiments are needed. Historically, convergent experiments have not been used for benchmark data because they are integral measurements. That is each part of a convergent target undergoes a time dependent wide range of states, making it difficult to accurately isolate any particular quantity for a given thermodynamic state. This effort developed innovative convergent HED platforms and techniques enabling the exploration of matter from atomic to nuclear scale pressures. This effort also performed pioneering experiments that yielded the first rigorous benchmark data at these extreme conditions. This funding award began with the overarching goal to understand the behavior of matter at extreme (atomic-to-nuclear scale) pressures. The motivation for these goals lie in the fact that every time scientists explore matter beyond the threshold of an atomic unit, there is a fundamental shift in science. The atomic unit for energy, mass, charge, length, and time have each been explored, and each time such a threshold was crossed, a new sequence of discoveries was made resulting in significant awards such as the Nobel Prize. The only unexplored atomic unit is pressure, and this effort set the course for exploring matter at and beyond such pressures. That most of the recently discovered extrasolar planets and stars, as well as matter in the late implosion stages of inertial fusion targets, have deep internal pressures at and beyond atomic pressures amplifies the importance of this effort. Much of the initial work in developing techniques to create these atomic-to-nuclear pressures already existed within the HED community, predominantly at large scale laser facilities such as the National Ignition Facility (NIF) and the Omega60 laser the University of Rochester and although these experiments were routinely performed the ability to extract information about the underlying physical states and processes remained elusive due to the complexity of the experiments, extreme scales in both time and space, and the integrated nature of all the measurements. This work built a rigorous framework so such measurements can routinely be made. This was done in part through the introduction of Bayesian inference techniques into the field of HED science. These techniques allow for the self-consistent extraction of the relevant variables and their explicit and implicit correlations, so as to make use of integrated experimental data to constrain physical models and provide accurate uncertainty bounds for the data. The techniques developed here are fully transparent and proved immediately useful providing quantitative rigorous benchmarks for physical states and processes at some of the most extreme conditions yet explored on Earth. This funding is directly or partly responsible for 7 publications in major peer-reviewed scientific journals, a doctoral thesis, 3 invited talks at major conferences, and the training of a post-doc, 2 graduate students, and 1 undergraduate student. Beyond the effort supported by this award launched the introduction of Bayesian inference into the HED physics community and helped push the usage if modern data-science techniques within the physics community at large.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

Integration of environmental and spectral data for sunflower stress determination

Stress in sunflowers was assessed in western and northwestern Minnesota. Weekly ground observations (acquired in 1980 and 1981) were analyzed in concert with large scale aerial photography and concurrent LANDSAT data. Using multidate supervised and unsupervised classification procedures, it was found that all crops grown in association with sunflowers in the study area are spectrally separable from one another. Under conditions of extreme drought, severely stressed plants were differentiable from those not severely stressed, but between-crop separation was not possible. Initial regression analyses to estimate sunflower seed yield showed a sensitivity to environmental stress during the flowering and seed development stages. One of the most important biological factors related to sunflower production in the Red River Valley area was found to be the extent and severity of insect infestations.

Lillesand, T.↗

Optimizing Data Movement for GPU-Based In-Situ Workflow Using GPUDirect RDMA

The extreme-scale computing landscape is increasingly dominated by GPU-accelerated systems. At the same time, in-situ workflows that employ memory-to-memory inter-application data exchanges have emerged as an effective approach for leveraging these extreme-scale systems. In the case of GPUs, GPUDirect RDMA enables third-party devices, such as network interface cards, to access GPU memory directly and has been adopted for intra-application communications across GPUs. In this paper, we present an interoperable framework for GPU-based in-situ workflows that optimizes data movement using GPUDirect RDMA. Specifically, we analyze the characteristics of the possible data movement pathways between GPUs from an in-situ workflow perspective, and design a strategy that maximizes throughput. Furthermore, we implement this approach as an extension of the DataSpaces data staging service, and experimentally evaluate its performance and scalability on a current leadership GPU cluster. The performance results show that the proposed design reduces data-movement time by up to 53% and 40% for the sender and receiver, respectively, and maintains excellent scalability for up to 256 GPUs.

Zhang, Bo↗

Scalable, In-situ Data Clustering Data Analysis for Extreme Scale Scientific Computing (Final Report)

The objective of this project is to address challenges in the design and development of scalable in-situ data clustering and analytics algorithms and software. Our goal is to develop parallel software consisting of a set of spatio-temporal data clustering and anomaly detection functions, both of which are very important for large-scale analysis and have wide applicability for in-situ runs as well as post-processing analysis. Our design principles for in-situ analysis consider the following: (1) identify parts of the computation can be done close to the data within the nodes, while it is still in memory; (2) extract analysis components can (and should) be performed in remote staging and analysis nodes; (3) develop error-bound approximation methods for applications tolerable for small errors; (4) identify the type of derived distributions and statistics, for spatio-temporal data, that can be kept locally in order to both accelerate computations and meet energy constraints in subsequent iterations and phases; (5) use a self-describing data format so that data can be consistent and understood among local storage (memory and SSDs) and at staging and analysis nodes, thereby providing portability and flexibility; (6) develop service-oriented functions that can schedule in-situ and post-hoc analysis tasks based on the dynamic requirements of applications. Our development focus is to produce the parallel data analysis software/library that will be scalable, reusable, extensible, and generic for applications in different disciplines. The software will be able to run in-situ with the simulations as well as post-hoc analysis. This approach will satisfy many synergistic requirements for data intensive applications executed on data coming from instruments and experiments. In particular, the proposed multilevel approach is directly applicable to perform design tradeoffs for running part of the algorithms near the instruments and the rest on remote (analysis) systems.

97 MATHEMATICS AND COMPUTING↗

ELT Imaging of MWC 297 from the 23 m LBTI: Complex Disk Structure and a Companion Candidate

Herbig Ae/Be stars represent the early outcomes of star formation and the initial stages of planet formation at intermediate stellar masses. Understanding both of these processes requires detailed characterization of their disk structures and companion frequencies. We present new 3.7 μm imaging of the Herbig Be star MWC 297 from nonredundant masking observations on the phase-controlled, 23 m Large Binocular Telescope Interferometer. The images reveal complex disk structure on the scales of several au, as well as a companion candidate. We discuss physical interpretations for these features and demonstrate that the imaging results are independent of choices such as priors, regularization hyperparameters, and error-bar estimates. With an angular resolution of ∼17 mas, these data provide the first robust Extremely Large Telescope–resolution view of a distant young star.

47 OTHER INSTRUMENTATION↗

Study of a 30-M Boom For Solar Sail-Craft: Model Extendibility and Control Strategy

Space travel propelled by solar sails is motivated by the fact that the momentum exchange that occurs when photons are reflected and/or absorbed by a large solar sail generates a small but constant acceleration. This acceleration can induce a constant thrust in very large sails that is sufficient to maintain a polar observing satellite in a constant position relative to the Sun or Earth. For long distance propulsion, square sails (with side length greater than 150 meters) can reach Jupiter in two years and Pluto in less than ten years. Converting such design concepts to real-world systems will require accurate analytical models and model parameters. This requires extensive structural dynamics tests. However, the low mass and high flexibility of large and light weight structures such as solar sails makes them unsuitable for ground testing. As a result, validating analytical models is an extremely difficult problem. On the other hand, a fundamental question can be asked. That is whether an analytical model that represents a small-scale version of a solar-sail boom can be extended to much larger versions of the same boom. To answer this question, we considered a long deployable boom that will be used to support the solar sails of the sail-craft. The length of fully deployed booms of the actual solar sail-craft will exceed 100 meters. However, the test-bed we used in our study is a 30 meter retractable boom at MSFC. We first develop analytical models based on Lagrange s equations and the standard Euler-Bernoulli beam. Then the response of the models will be compared with test data of the 30 meter boom at various deployed lengths. For this stage of study, our analysis was limited to experimental data obtained at 12ft and 18ft deployment lengths. The comparison results are positive but speculative. To observe properly validate the analytic model, experiments at longer deployment lengths, up to the full 30 meter, have been requested. We expect the study to answer the extendibility question of the analytical models. In operation, rapid temperature changes can be induced in solar sails as they transition from day to night and vice versa. This generates time dependent thermally induced forces, which may in turn create oscillation in structural members such as booms. Such oscillations have an adverse effect on system operations, precise pointing of instruments and antennas and can lead to self excited vibrations of increasing amplitude. The latter phenomenon is known as thermal flutter and can lead to the catastrophic failure of structural systems. To remedy this problem, an active vibration suppression system has been developed. It was shown that piezoelectric actuators used in conjunction with a Proportional Feedback Control (PFC) law (or Velocity Feedback Control (VFC) law) can induce moments that can suppress structural vibrations and prevent flutter instability in spacecraft booms. In this study, we will investigate control strategies using piezoelectric transducers in active, passive, and/or hybrid control configurations. Advantages and disadvantages of each configuration will be studied and experiments to determine their capabilities and limitations will be planned. In particular, special attention will be given to the hybrid control, also known as energy recycling, configuration due to its unique characteristics.

Keel, Leehyun↗