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At least 307 records · Page 17

Design, Prototyping, and Testing of a Novel Flowpath with an Array of Six 3D Matrix Vitvo Bioreactors for the NASA Bioculture System

The NASA Bioculture System is an advanced cell culture closed-loop system containing highly automated flowpaths designed to conduct long term biology experiments on ISS with earth remote controllable medium flow, temperature, gas composition, medium exchange, cell sampling and fixation. This technology was already demonstrated with successful cardiomyocyte and osteocyte cultures experiments onboard the ISS and is now supporting NASA PI science. The Bioculture System, however, can only support 10 cassettes with disposable flowpaths, each containing a single hollow fiber bioreactor with a culture capacity of about 2ml. This constraint not only severely limits the number of investigators that can conduct experiments in space, but also subjects the experiments to limitations in the number of replicates and conditions that can be studied. To address these limitations, we sought a novel design solution to maximize the number of separate bioreactor cultures and volume that can be conducted simultaneously. To this end we designed, prototyped, and are now testing a six-Vitvo 3D Matrix 2ml bioreactor insert that replaces the conventional Bioculture System hollow fiber bioreactor. This design will allow the Bioculture System to support up to 60 different bioreactors and samples at once. Specifically, the novel gas-tight containment housing insert contains six COTS Rigenerand VITVO bioreactors stacked on each side of a heat sink powered by the existing heating element and pair of temperature sensors. Medium will be distributed into each bioreactor's cell-free chamber via its built-in Luer connector, then across the 3D matrix to the cell chamber, dissipating laminar flow and limiting fluid shear stresses that might mechanostimulate cell cultures. Gas (5% CO2 in air) will be supplied directly to the bioreactor gas-tight housing for exchange via the bioreactor flat-surface gas-permeable membranes, eliminating the need for the existing Bioculture System cassette oxygenator. If successfully implemented on ISS, this new multi-bioreactor insert for the Bioculture System has the potential to make real-time cell science experimentation in space more efficient and accessible to more investigators.

Ma, Kristin R.↗

Correlation approach for quality assurance of additive manufactured parts based on optical metrology

Surface topography and surface finish are two significant factors for evaluating the quality of products in additive manufacturing (AM). AM parts are fabricated layer by layer, which is quite different from traditional formative or subtractive methods. Despite rapid progress in additive manufacturing and associated optical metrology for quality control and in-situ monitoring, limited research has been conducted to investigate the reliability of 3D surface measurement data. The surface topologies scanned by multiple optical systems demonstrated significant differences due to varying sampling mechanisms, resolutions, system noises, etc. The 3D datasets should be trustworthy in order to extract parameters for quality assurance or feedback control from 3D surface measurements. In this paper, we set up new standards to evaluate the reliability of 3D surface measurement data and analyze the variation in the topographical profile. In this study, two non-contact optical methods based on Focus Variation Microscopy (FVM) and Structured Light System (SLS) were adopted to measure the surface topography of the target components. The two optical metrology systems generated two entirely different point cloud datasets. Statistical methods were applied to test the difference between the data obtained from the two systems. By using a data analytics approach for comparison, it was found that the surface roughness estimated from the point cloud data sets of FVM and SLS has no significant difference, though the point cloud data sets were completely different. This paper provides standard validation approach to evaluate the plausibility of metrology data from in-situ real-time surface analysis for process planning of AM.

36 MATERIALS SCIENCE↗

Neurovascular Outcomes of Ionizing Radiation in Human Blood-Brain Barrier Models

One of the main health risks in human deep space exploration is central nervous system (CNS) damage by ionizing radiation due to exposure to galactic cosmic rays (GCRs). In animal models, irradiation with simulated GCRs or their components has been shown to cause neurodegeneration and neuroinflammation associated with cognitive and behavioral dysfunction. The extent of CNS damage is partially mediated by the blood-brain barrier (BBB), which regulates the interaction between CNS and systemic responses to stressors in the rest of the body. The main cellular regulators of BBB permeability are astrocytes, which also modulate neuronal death, neuroinflammation and oxidative stress. However, studies on BBB and astrocyte functions in regulating CNS responses to ionizing radiation have been limited, especially in human tissue/organ analogs. Therefore, we developed a high throughput 3D human neurovascular system model, based on commercially available Mimetas OrganoPlates seeded by primary human cells, to investigate the neurovascular responses to simulated deep space radiation. Using this system, we have demonstrated that 600MeV/n 56Fe irradiation leads to cellular damage and increased blood-brain barrier permeability via dysfunction of brain cells called astrocytes, which appear to be the weakest link and therefore a highly suitable countermeasure target to reduce the impact of space radiation on the blood-brain barrier. We anticipate that our results form merely the first step in ongoing development of organ models, including their adaptation for personalized risk assessment, high throughput approaches to countermeasure screening and validation, and eventual payload adaptation.

organ-on-a-chip↗

Simulation of automatic rotorcraft nap-of-the-earth flight in graphics workstation environment

This paper describes a three-dimensional (3D) helicopter flight simulation system. The simulation is designed to be a readily available tool for concept verification and tuning of automatic obstacle-avoidance guidance algorithms. The system has been implemented on networked workstations capable of interactive 3D graphics simulation. The simulation uses realistic terrain and obstacle models. The dynamics of the rotorcraft and the functional capabilities of the range sensors are simulated to provide all the components required to evaluate the guidance function. Standard graphics hardware available on the workstation is utilized to accelerate the range-data calculations for sensor simulation at the guidance rate. An example is given to demonstrate the performance of the obstacle-avoidance capability.

Lam, T.↗

Advanced Inspection System: Integrating Robotic Configurations & Controls

The Advanced Inspection System (AIS) promotes the ability to perform field inspections and repairs remotely by operator command. The robotic system is required to be a fully autonomous operation, managed by computer execution of scripts with limited user control. AIS is a complex yet intriguing challenge in which various goals must be reached to achieve complete autonomy. The first steps to building such a system require human computer interactions and computer simulations for testing and verification. Such applications include the use of a wireless video game controller via Bluetooth Technology and the use of Leap Motion, a gesture based motion controller which can be used to manipulate robotic arm movements. Utilizing the Robotic Operating System (ROS) environment, these applications, in accordance to developing a 3D simulation of the system, will provide a foundational test bed for AIS development.

Wlodarczyk, Stephan J.↗

Interactive 3D Mars Visualization

The Interactive 3D Mars Visualization system provides high-performance, immersive visualization of satellite and surface vehicle imagery of Mars. The software can be used in mission operations to provide the most accurate position information for the Mars rovers to date. When integrated into the mission data pipeline, this system allows mission planners to view the location of the rover on Mars to 0.01-meter accuracy with respect to satellite imagery, with dynamic updates to incorporate the latest position information. Given this information so early in the planning process, rover drivers are able to plan more accurate drive activities for the rover than ever before, increasing the execution of science activities significantly. Scientifically, this 3D mapping information puts all of the science analyses to date into geologic context on a daily basis instead of weeks or months, as was the norm prior to this contribution. This allows the science planners to judge the efficacy of their previously executed science observations much more efficiently, and achieve greater science return as a result. The Interactive 3D Mars surface view is a Mars terrain browsing software interface that encompasses the entire region of exploration for a Mars surface exploration mission. The view is interactive, allowing the user to pan in any direction by clicking and dragging, or to zoom in or out by scrolling the mouse or touchpad. This set currently includes tools for selecting a point of interest, and a ruler tool for displaying the distance between and positions of two points of interest. The mapping information can be harvested and shared through ubiquitous online mapping tools like Google Mars, NASA WorldWind, and Worldwide Telescope.

Powell, Mark W.↗

Evaluation of Markerless Motion Capture for Monitoring Sensorimotor Performance

BACKGROUND Astronauts returning from long-duration exposure to microgravity frequently exhibit alterations in sensorimotor function leading to postural imbalance, impaired locomotion, and operational challenges to manual control. Mission duration and individual responses often influence both the severity of performance decrements and the variability in adaptation timelines. Postflight disruptions during functional tasks are often detected through body-worn inertial measurement unit (IMU) devices. While IMU sensors are relatively compact, the long-term wear may lead to discomfort, displacement of the sensors on the body, and restrictions in movement or crew behavior. Although IMU data offers valuable insights from a research standpoint, interpreting changes in pre- and post-flight measures can be difficult for crew support personnel beyond the research domain, which can hinder the application for medical assessments and rehabilitation. Finally, the availability of inertial sensors in-flight is limited. There is a need for unobtrusive monitoring tools to improve our ability to monitor adaptation following gravitational transitions in various postflight evaluations and rehabilitation settings. Markerless motion capture (MMC) is an evolving unobtrusive technology that builds upon decades of research with marker-based motion capture systems to provide 3D human pose estimation from multiple synchronized 2D camera views using deep learning algorithms. Markerless technology can revolutionize how data is captured pre- and post-flight and potentially in-flight during intravehicular activity by enabling pose estimation of multiple crew members from onboard camera hardware. METHODS The following presents the initial evaluation of a state-of-the-art commercial-off-the-shelf MMC system, Theia Markerless, compared to IMU devices during various ground-based functional tasks and environmental conditions. The featured functional tasks include assessments from Human Research Program (HRP) funded studies such as Sensorimotor Standard Measures and Sensorimotor Assessments. Synchronous data collected using both motion capture and IMUs are analyzed for six male and female subjects of varying anthropometry. The analysis includes limited assessments of clothing, capture volume configurations, and the tool's sensitivity to detecting performance changes after a spaceflight analog centrifuge exposure. The development of visualization tools to enhance the application of the pose estimation output is also presented. RESULTS Initial results demonstrate comparable root mean square error (RMSE) to existing literature evaluating markerless and marker-based motion capture systems. Considering the relative functional range of motion of the cervical spine, normalized error values for the markerless system’s accuracy of the head was 0.032 in pitch, 0.025 in roll, and 0.018 in yaw plane of motion across a subset of functional tasks. The raw RMSE values were 3.49, 2.25, and 2.81 degrees respectively. For the torso, results suggest normalized errors of 0.469 in pitch, 0.191 in roll, and 0.307 in yaw planes of motion and raw RMSE values of 3.52, 1.53, and 3.07 degrees respectively. The data suggests the functional demands of a particular task influences the estimation accuracy of the MMC system where more dynamic motion and cases where subjects are not upright may introduce diminished tracking accuracy. DISCUSSION The following work lays the foundation for future implementations leveraging markerless motion capture to assess the time course of recovery and provide insight for rehabilitation protocols to enhance crew readiness for the resumption of daily activities. These tools offer effective methods for anonymizing sensitive crew data, facilitating numerous applications across research, medical, and rehabilitation groups. Collaborations with the Anthropometry and Biomechanics Facility will provide further comparisons of the Markerless system to a marker-based system. ACKNOWLEDGEMENT</ This work is supported by NASA’s Exploration Systems Development Mission Directorate Mars Campaign Office Crew Health Countermeasures.

Hannah M. Weiss↗

User Centered, Application Independent Visualization of National Airspace Data

This paper describes an application independent software tool, IV4D, built to visualize animated and still 3D National Airspace System (NAS) data specifically for aeronautics engineers who research aggregate, as well as single, flight efficiencies and behavior. IV4D was origin ally developed in a joint effort between the National Aeronautics and Space Administration (NASA) and the Air Force Research Laboratory (A FRL) to support the visualization of air traffic data from the Airspa ce Concept Evaluation System (ACES) simulation program. The three mai n challenges tackled by IV4D developers were: 1) determining how to d istill multiple NASA data formats into a few minimal dataset types; 2 ) creating an environment, consisting of a user interface, heuristic algorithms, and retained metadata, that facilitates easy setup and fa st visualization; and 3) maximizing the user?s ability to utilize the extended range of visualization available with AFRL?s existing 3D te chnologies. IV4D is currently being used by air traffic management re searchers at NASA?s Ames and Langley Research Centers to support data visualizations.

Murphy, James R.↗

Semi-Annual Report for Horizontal Compact High Temperature Gas Reactor (HC-HTGR) Development during Performance Period April 2023 – September 2023

Horizontal Compact High Temperature Gas Reactor (HC-HTGR) is being designed by a multi-disciplinary team of nuclear, mechanical, and structural engineers under the support of a DOE-NE Advanced Reactor Demonstration Program’s Advanced Reactor Concepts-20 (ARC-20) award. The objective of this ARC-20 project is to deliver a conceptual design for the proposed HC-HTGR in 3 years and support its commercialization as a safe, low-cost HTGR. Argonne National Laboratory (Argonne) is responsible for the design and analysis of the reactor cavity cooling system (RCCS) as a safety system for passive decay heat removal of the reactor concept. Additionally, Argonne is providing analysis of the primary coolant system to ensure temperatures within the core remain below safety margins during steady-state and potential accident scenarios. This fourth semi-annual report summarized the progress made at Argonne on the two tasks during the second half of FY23. As a part of the RCCS design task, recent efforts have been made to complete a conceptual design of the RCCS for the HC-HTGR, including the design update of the water panel and system configuration favorable in point of view of fabrication and system operation. Design calculations were conducted under various heat load conditions to validate the system design. Transient simulations using RELAP5-3D were conducted to investigate system dynamics under transients of interest and to evaluate the system performance in the design condition. The results demonstrated the overall system feasibility that the RCCS design maintains structures temperatures lower than maximum allowable temperature with sufficient system inventory without any active heat sink. In the primary system thermal hydraulics task, the preliminary analysis was performed for a long term pressurized conduction cooldown (PCC) transient. This analysis used a combination of a fully resolved and coarse homogenized mesh to predict the temperature distribution for the steady-state initial condition and the PCC transient. The steady-state initial condition was determined using a fully resolved full core model with 3D solid to 1D fluid coupling. The fully resolved mesh was also used to model the first 20 seconds of the PCC. The temperature difference between fuel pins and the graphite matrix becomes minimal and the dominant heat transfer shifts to a larger scale radially towards the RCCS. After 20 seconds, a homogenized coarse mesh is used, greatly reducing the computational costs of the model. These results demonstrate that the core is designed to passively remove enough decay heat in a protected loss of primary coolant flow to prevent an unsafe rise of core temperatures.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗

Technologies for Future Venus Exploration

The purpose of this white paper is to provide an overview to the NRC Decadal Survey Inner Planets Sub-Panel on thermal protection system (TPS) technologies required for future Venus exploration missions. It considers the capability of heritage TPS technology used by the Pioneer Venus and Galileo probe missions and identifies new technologies that could enable greater science value and more ambitious missions in the future. A prime conclusion is that there are important advances regarding the availability of forebody TPS required for Venus entry probes. Specifically, the carbon phenolic flown on the Pioneer Venus probes has been deemphasized and a new 3D woven material system, Heatshield for Extreme Entry Environment Technology (HEEET) has replaced carbon phenolic. Along with the development of HEEET, there have been test facility upgrades and design tool improvements. These new material and test methods are enabling for Venus missions. However, without a mission scheduled in the near future, even these new developments are at risk of becoming unavailable. Therefore, we recommend that NASA invest in a cross-cutting technology program that focuses on sustainment of relevant TPS materials, entry systems, test facilities, design tools, and flight instrumentation.

Thermal Protection Systems↗

Comparison of current Shuttle and pre-Challenger flight suit reach capability during launch accelerations

The Challenger accident prompted the creation of a crew escape system which replaced the former Launch Entry Helmet (LEH) ensemble with the current Launch Entry Suit (LES). However, questions were raised regarding the impact of this change on crew reach capability. This study addressed the question of reach capability and its effects on realistic ground-based training for Space Shuttle missions. Eleven subjects performed reach sweeps in both the LEH and LES suits during 1 and 3 Gx acceleration trials in the Brooks AFB centrifuge. These reach sweeps were recorded on videotape and subsequently analyzed using a 3D motion analysis system. The ANOVA procedure of the Statistical Analysis System program was used to evaluate differences in forward and overhead reach. The results showed that the LES provided less reach capability than its predecessor, the LEH. This study also demonstrated that, since there was no substantial difference between 1 and 3 Gx reach sweeps in the LES, realistic Shuttle launch training may be accomplished in ground based simulators.

Bagian, James P.↗

A new MAP for Mars

A Mars Aerial Platform (MAP) mission capable of generating thousands of very-high-resolution (20 cm/pixel) pictures of the Martian surface is considered. The MAP entry vehicle will map the global circulation of the planet's atmosphere and examine the surface and subsurface. Data acquisition will use instruments carried aboard balloons flying at nominal altitude of about 7 km over the Martian surface. The MAP balloons will take high- and medium-resolution photographs of Mars, sound its surface with radar, and provide tracking data to chart its winds. Mars vehicle design is based on the fourth-generation NTP, NEP, SEP vehicle set that provides a solid database for determining transportation system costs. Interference analysis and 3D image generation are performed using manual system sizing and sketching in conjunction with precise CAD modeling.

Zubrin, Robert↗

Engine Load Path Calculations - Project Neo

A mathematical model of the engine and actuator geometry was developed and used to perform a static force analysis of the system with the engine at different pitch and yaw angles. This analysis yielded the direction and magnitude of the reaction forces at the mounting points of the engine and actuators. These data were used to validate the selection of the actuators installed in the system and to design a new spherical joint to mount the engine on the test fixture. To illustrate the motion of the system and to further interest in the project, a functional 3D printed version of the system was made, featuring the full mobility of the real system.

geometry↗

Spacesuit and Mobility Performance Changes

The complex interactions between the human body and spacesuit lead to changes inmovement patterns and mobility performancesof the wearer. In general, factors including the geometric properties, such as shape and size, mechanical properties of the suit, and pressurization of the suit are known to be associated with altered movement patterns as compared to an unsuited human.However, their relative contributions have not been explicitly quantified from the mobility performance perspectives. The goal of this study wasthus to assessthe effects fromthe different types of mobility constraintconditions, namely by wearing either a 3D printed hard upper torso (HUT) assembly orfully pressurized spacesuit. The outcome was also compared against the unsuited motions. For this study, an xEMU (exploration Extravehicular Mobility Unit) suitwas considered, which is the next generation spacesuit developed by NASA. In each test condition, the subject was asked to move the arm and hand as prescribedfor different task types, and the corresponding body segment locations were recordedusing a 3D motion capture system. The following three tasks were performedand analyzed: 1) Outward one-handed reaches:the subject in a standing pose made sweeping motions with the extended right arm from the extreme end-to-end positions, including side-to-side at different elevations and top-to-bottom at different azimuths. 2) Outward two-handed reaches:similarto the previous task, howeverthe subject kept the hands together during the motions in order to assessthe areas that can be reached by both hands. 3) Inward one-handed reaches:the subject made right-hand reach motions to the surface of the HUT.The hand traces collected from each task were modeled by a template shape parametrically deformed with a radial basis function. This process enabled foran abstraction of the hand traces into a smooth surface envelope representing the maximally reachable area of the test subject, of which the shapes and sizes were compared across the different test conditions. The preliminary analysis has shown that theoverall size of reachenvelopes decreases in a pressurized suit compared to 3D printed mockup HUT and unsuited conditions. The specific shape of the envelopes, which were determined by the reachable and unreachable zones, alsovary with the testconditions, and the differences werepronounced with the inward reaches to the HUT surface. The latter observation ispotentially relatedto the increased demandfor shoulder and elbow flexions.Overcomingthe resistance from the pressurizedsoft goods and mechanical constraints of the shoulder assemblywas seen to be associated with the difference in motion patterns between the suited and unsuited conditions. Overall, the information quantified from this study is expected to provide structured metrics for spacesuit mobility, which can improve design optimization and human-system integration.

K Han Kim↗

Development of Long Fiber Filled Materials for Fused Filament Fabrication (FFF) (Phase 2)

ORNL worked with 3D Platform to develop new hardware and systems for their largest product, a medium format pellet system known as the WorkCenter 500. 3D Platform provided an Alpha version of the system for ORNL to begin development and systems integration. ORNL focused efforts on integrating a new dryer, safety enclosure, extruder, and build table for improved operation of the system.

36 MATERIALS SCIENCE↗

NASA Tech Briefs, September 2010

Topics covered include: Instrument for Measuring Thermal Conductivity of Materials at Low Temperatures; Multi-Axis Accelerometer Calibration System; Pupil Alignment Measuring Technique and Alignment Reference for Instruments or Optical Systems; Autonomous System for Monitoring the Integrity of Composite Fan Housings; A Safe, Self-Calibrating, Wireless System for Measuring Volume of Any Fuel at Non-Horizontal Orientation; Adaptation of the Camera Link Interface for Flight-Instrument Applications; High-Performance CCSDS Encapsulation Service Implementation in FPGA; High-Performance CCSDS AOS Protocol Implementation in FPGA; Advanced Flip Chips in Extreme Temperature Environments; Diffuse-Illumination Systems for Growing Plants; Microwave Plasma Hydrogen Recovery System; Producing Hydrogen by Plasma Pyrolysis of Methane; Self-Deployable Membrane Structures; Reactivation of a Tin-Oxide-Containing Catalys; Functionalization of Single-Wall Carbon Nanotubes by Photo-Oxidation; Miniature Piezoelectric Macro-Mass Balance; Acoustic Liner for Turbomachinery Applications; Metering Gas Strut for Separating Rocket Stages; Large-Flow-Area Flow-Selective Liquid/Gas Separator; Counterflowing Jet Subsystem Design; Water Tank with Capillary Air/Liquid Separation; True Shear Parallel Plate Viscometer; Focusing Diffraction Grating Element with Aberration Control; Universal Millimeter-Wave Radar Front End; Mode Selection for a Single-Frequency Fiber Laser; Qualification and Selection of Flight Diode Lasers for Space Applications; Plenoptic Imager for Automated Surface Navigation; Maglev Facility for Simulating Variable Gravity; Hybrid AlGaN-SiC Avalanche Photodiode for Deep-UV Photon Detection; High-Speed Operation of Interband Cascade Lasers; 3D GeoWall Analysis System for Shuttle External Tank Foreign Object Debris Events; Charge-Spot Model for Electrostatic Forces in Simulation of Fine Particulates; Hidden Statistics Approach to Quantum Simulations; Reconstituted Three-Dimensional Interactive Imaging; Determining Atmospheric-Density Profile of Titan; Digital Microfluidics Sample Analyzer; Radiation Protection Using Carbon Nanotube Derivatives; Process to Selectively Distinguish Viable from Non-Viable Bacterial Cells; and TEAMS Model Analyzer.

Source record↗

High-speed wide-angle interleaved scanning technique for a 3D imaging lidar

In this paper, we describe a novel interleaved scanner for an eye-safe 3D scanning lidar system to measure aerodynamic phenomena in a wind tunnel using elastic backscatter from seeding particles. The scanner assembly consists of a rotating polygon scanner for line scanning along the fast axis, a galvanometer (galvo) scanner for scanning along the slow axis, angular position sensors and motor controllers. The polygon scanner sweeps the lidar beam at up to 10,000 lines/s across a 27 deg angular field-of-regard in the fast axis, while the galvo scanner covers an angular range of 20 deg in the slow axis. Using this scanner, the lidar can perform non-intrusive flow visualization, velocimetry, and hard target mapping at mmscale spatial resolution to a standoff range of 5 m at an update rate of 50 Hz for the full field-of-regard. An interleaved scanning methodology for the acquisition of two snapshots of 3D lidar intensity data with a 100 μs time offset is discussed. The design of the control and data acquisition electronics is described. The effects of rapid scanning on the response of a narrow field-of-view lidar are addressed. The design of the scanner is scalable and can be tailored to meet the requirements of other applications by increasing or decreasing the standoff range, angular field-of-regard and scan rate.

3D Imaging Lidar↗

Emergence of flat bands and ferromagnetic fluctuations via orbital-selective electron correlations in Mn-based kagome metal

Kagome lattice has been actively studied for the possible realization of frustration-induced two-dimensional flat bands and a number of correlation-induced phases. Currently, the search for kagome systems with a nearly dispersionless flat band close to the Fermi level is ongoing. Here, by combining theoretical and experimental tools, we present Sc 3 Mn 3 Al 7 Si 5 as a novel realization of correlation-induced almost-flat bands in the kagome lattice in the vicinity of the Fermi level. Our magnetic susceptibility, 27 Al nuclear magnetic resonance, transport, and optical conductivity measurements provide signatures of a correlated metallic phase with tantalizing ferromagnetic instability. Our dynamical mean-field calculations suggest that such ferromagnetic instability observed originates from the formation of nearly flat dispersions close to the Fermi level, where electron correlations induce strong orbital-selective renormalization and manifestation of the kagome-frustrated bands. In addition, a significant negative magnetoresistance signal is observed, which can be attributed to the suppression of flat-band-induced ferromagnetic fluctuation, which further supports the formation of flat bands in this compound. These findings broaden a new prospect to harness correlated topological phases via multiorbital correlations in 3d-based kagome systems.

36 MATERIALS SCIENCE↗