Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “Common Research Model”

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

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 955 records · Page 53

Materials Outgassing Rate Decay in Vacuum at Isothermal Conditions

As a laboratory for scientific research, the International Space Station has been in Low Earth Orbit for nearly 20 years and is expected to be on-orbit for another 10 years. The ISS has been maintaining a relatively pristine contamination environment for science payloads. Materials outgassing induced contamination is currently the dominant source for sensitive surfaces on ISS and modeling the outgassing rate decay over a 20 to 30 year period is challenging. Materials outgassing is described herein as a diffusion-reaction process using ASTM E 1559 rate data. The observation of -1/2 (diffusion) or non-integers (reaction limited) as rate decay exponents for common ISS materials indicate classical reaction kinetics is unsatisfactory in modeling materials outgassing. Non-randomness of reactant concentrations at the interface is the source of this deviation from classical reaction kinetics. A diffusion limited decay was adopted as the result of the correlation of the contaminant layer thicknesses on returned ISS hardware, the existence of high outgassing silicone exhibiting near diffusion limited decay, and the confirmation of non-depleted material after ten years in the Low Earth Orbit.Keywords: Materials Outgassing, ASTM E 1559, Reaction Kinetics, Diffusion, Space Environments Effects, Contamination

Huang, Alvin Y.↗

Comparison of Non-Combusting Spray Fields in a Model Combustor using Shadowgraphy

Droplet sizes were measured using shadowgraphy in the spray issuing from the center element of the baseline configuration of the NASA 7-element lean direct injector (LDI) array. Each LDI element consisted of a 60 degree clockwise axial air swirler, converging-diverging venturi, and a pressure-swirl atomizer positioned with its tip at the venturi throat. The non-combusting measurements were conducted using water spray in a 3-inch diameter research combustor operating at pressure of 5 bar and air inlet temperature of 700 K. At these inlet conditions, three air flow rates were used, producing reference velocities of 7.6, 15.2, and 22.9 m/s. Only the center nozzle was used. At each reference velocity, water flow rates were adjusted to simulate a common equivalence. Data were collected at a frame rate of 15 Hz over a range of positions near the LDI dump plane, and downstream, along the combustor centerline. Velocity measurements were achieved by use of a dual head Nd:YAG laser and frame transfer PIV camera. Droplet size and velocity, mass and number density, and volume fraction are compared at these inlet conditions to determine the effect of nozzle pressure drop on the measured properties.

lean direct injection↗

Comparison of Non-Combusting Spray Fields in a Model Combustor using Shadowgraphy

Droplet sizes were measured using shadowgraphy in the spray issuing from the center element of the baseline configuration of the NASA 7-element lean direct injector (LDI) array. Each LDI element consisted of a 60 degree clockwise axial air swirler, converging-diverging venturi, and a pressure-swirl atomizer positioned with its tip at the venturi throat. The non-combusting measurements were conducted using water spray in a 3-inch diameter research combustor operating at pressure of 5 bar and air inlet temperature of 700 K. At these inlet conditions, three air flow rates were used, producing reference velocities of 7.6, 15.2, and 22.9 m/s. Only the center nozzle was used. At each reference velocity, water flow rates were adjusted to simulate a common equivalence. Data were collected at a frame rate of 15 Hz over a range of positions near the LDI dump plane, and downstream, along the combustor centerline. Velocity measurements were achieved by use of a dual head Nd:YAG laser and frame transfer PIV camera. Droplet size and velocity, mass and number density, and volume fraction are compared at these inlet conditions to determine the effect of nozzle pressure drop on the measured properties.

lean direct injection↗

Refractive Secondary Concentrators for Solar Thermal Applications

The NASA Glenn Research Center is developing technologies that utilize solar energy for various space applications including electrical power conversion, thermal propulsion, and furnaces. Common to all of these applications is the need for highly efficient, solar concentration systems. An effort is underway to develop the innovative single crystal refractive secondary concentrator, which uses refraction and total internal reflection to efficiently concentrate and direct solar energy. The refractive secondary offers very high throughput efficiencies (greater than 90%), and when used in combination with advanced primary concentrators, enables very high concentration ratios (10,0(X) to 1) and very high temperatures (greater than 2000 K). Presented is an overview of the refractive secondary concentrator development effort at the NASA Glenn Research Center, including optical design and analysis techniques, thermal modeling capabilities, crystal materials characterization testing, optical coatings evaluation, and component testing. Also presented is a discussion of potential future activity and technical issues yet to be resolved. Much of the work performed to date has been in support of the NASA Marshall Space Flight Center's Solar Thermal Propulsion Program. The many benefits of a refractive secondary concentrator that enable efficient, high temperature thermal propulsion system designs, apply equally well to other solar applications including furnaces and power generation systems such as solar dynamics, concentrated thermal photovoltaics, and thermionics.

Wong, Wayne A.↗

Comparison of MERRA-2 and ECCO-V4 Ocean Surface Heat Fluxes: Consequences of Different Forcing Feedbacks on Ocean Circulation and Implications for Climate Data Assimilation

Forcing ocean models with reanalysis data is a common practice in ocean modeling. As part of this practice, prescribed atmospheric state variables and interactive ocean SST (Sea Surface Temperature) are used to calculate fluxes between the ocean and the atmosphere. When forcing an ocean model with reanalysis fields, errors in the reanalysis data, errors in the ocean model and errors in the forcing formulation will generate a different solution compared to other ocean reanalysis solutions (which also have their own errors). As a first step towards a consistent coupled ocean-atmosphere reanalysis, we compare surface heat fluxes from a state-of-the-art atmospheric reanalysis, the Modern-Era Retrospective analysis for Research and Applications, Version 2 (MERRA-2), to heat fluxes from a state-of-the-art oceanic reanalysis, the Estimating the Circulation and Climate of the Ocean Version 4, Release 2 (ECCO-v4). Then, we investigate the errors associated with the MITgcm (Massachusetts Institute of Technology general circulation model) ocean model in its ECCO-v4 ocean reanalysis configuration (1992-2011) when it is forced with MERRA- 2 atmospheric reanalysis fields instead of with the ECCO-v4 adjoint optimized ERA-interim state variables. This is done by forcing ECCO-v4 ocean with and without feedbacks from MERRA-2 related to turbulent fluxes of heat and moisture and the outgoing long wave radiation. In addition, we introduce an intermediate forcing method that includes only the feedback from the interactive outgoing long wave radiation. The resulting ocean circulation is compared with ECCO-v4 reanalysis and in-situ observations. We show that, without feedbacks, imbalances in the energy and the hydrological cycles of MERRA-2 (which are directly related to the fact it was created without interactive ocean) result in considerable SST drifts and a large reduction in sea level. The bulk formulae and interactive outgoing long wave radiation, although providing air-sea feedbacks and reducing model-data misfit, strongly relax the ocean to observed SST and may result in unwanted features such as large change in the water budget. These features have implications in a desired forcing recipe to be used. The results strongly and unambiguously argue for next generation data assimilation climate studies to involve fully coupled systems.

MERRA-2↗

Design of a Single Layer Metamaterial for Pressure Offloading of Transtibial Amputees

While using a prosthesis, transtibial amputees may experience pain and discomfort brought on by large pressure gradients at the interface between the residual limb and prosthetic socket. Current prosthetic interface solutions attempt to alleviate these pressure gradients by using soft homogenous liners to reduce and distribute pressures. This research investigates an additively manufactured metamaterial inlay with a tailored mechanical response to reduce peak pressure gradients around the limb. The inlay uses a hyperelastic behaving metamaterial (US10244818) comprised of triangular pattern unit cells which can be 3D printed with walls of various thicknesses controlled by draft angles. The hyperelastic material properties are modeled using a Yeoh 3rd order model. The 3rd order coefficients can be adjusted and optimized, which corresponds to a change in the unit cell wall thickness to create an inlay that can meet the unique offloading needs of an amputee. Finite element analysis simulations evaluated the pressure gradient reduction from: 1) a common homogenous silicone liner, 2) a prosthetist's inlay prescription that utilizes three variations of the metamaterial, and 3) a metamaterial solution with optimized Yeoh 3rd order coefficients. When compared to a traditional homogenous silicone liner for two unique limb loading scenarios, the prosthetist prescribed inlay and the optimized material inlay can achieve equal or greater pressure gradient reduction capabilities. These results show the potential feasibility of implementing this metamaterial as a method of personalized medicine for transtibial amputees by creating a customizable interface solution to meet the unique performance needs of an individual patient.

60 APPLIED LIFE SCIENCES↗

An integrated PCM data system for full scale aeronautics testing

An integrated PCM data system is being developed at Ames Research Center to gather test data on advanced STOL propulsive lift, VTOL, rotary wing, and V/STOL control systems concepts as they pass through wind-tunnel, test-stand, flight-simulator and flight-test phases. Identical airborne signal conditioning and PCM encoding is used on test aircraft and wind tunnel models. An 80,000 word/second PCM installation will be the first all PCM-instrumented rotary wing development project. The system uses both dedicated and time-shared computers for fast data analysis with maximum use of resources. This system development shows one way to bring separate data user groups together over a common data base, while sharing computing resources for minimum cost.-

Reynolds, D. R.↗

Studies of extra-solar Oort clouds and the Kuiper disk

We are conducting research designed to enhance our understanding of the evolution and detectability of comet clouds and disks. According to 'standard' theory, both the Kuiper Belt and the Oort Cloud are (at least in part) natural products of the planetary accumulation stage of solar system formation. One expects such assemblages to be a common attribute of other solar systems. Therefore, searches for comet disks and clouds orbiting other stars offer a new method for inferring the presence of planetary systems. This project consists of two efforts: (1) observational work to predict and search for the signatures of Oort Clouds and comet disks around other stars; and (2) modelling studies of the formation and evolution of the Kuiper Belt (KB) and similar assemblages that may reside around other stars, including beta Pic.

Stern, S. Alan↗

Control of Convection in Containerless Processing

Many different containerless processing techniques are employed in materials research, with the common goals of eliminating chemical reactions with the crucible and reducing heterogeneous nucleation sites. Each containerless method has different driving forces for flow in a liquid sample, and each has different relations between the flow variables and the process parameters. Often more than one technique is required to achieve the objectives of an experimental program. For example, one project requires solidification experiments over a range of almost two orders of magnitude in flow velocity, in both laminar and turbulent flow, while another requires a particular combination of shear rate and cooling rate, leading to a different processing strategy. The results of a modeling effort to determine the best combination of methods to meet the requirements of these two different experimental programs are presented.

Hyers, R. W.↗

Transition to turbulence in laminar hypersonic flow

Progress in a recently started project aimed at the prediction of transition to turbulence in hypersonic flow is briefly discussed. The prediction of transition to turbulence is a very important issue in the design of space vessels. Two space vehicles currently under investigation, namely the aeroassisted transfer vehicle (AOTV) and the trans-atmospheric vehicle (TAV), suffer from strong aerodynamic heating. This heating is strongly influenced by the boundary layer structure. These aerospace vehicles fly in the upper atmospheric layer at a Mach number between 10 and 30 at very low atmospheric pressures. At very high altitudes the flow is laminar, but when the space vessel returns to a lower orbit, the flow becomes turbulent and the heating is dramatically increased. The prediction of this transition process is commonly done by means of experiments. The experimental facilities available nowadays cannot model the hypersonic flow field accurately enough by limitations in Mach and Reynolds number. These facilities also have a large free stream disturbance level which makes it very difficult to investigate transition accurately. An alternative approach is to study transition by theoretical means. Up to now numerical studies of hypersonic flow only discussed steady laminar or turbulent flow. This theoretical approach is extended to the study of transition in hypersonic flow by means of direct numerical simulations and additional theoretical investigations to explain the mechanisms leading to transition. A brief outline of how this research is to be performed is given.

Vandervegt, Jaap↗

Dusty Plasma Experiments Using an Electrodynamic Balance

Knowledge of the formation, distribution, physical, chemical and optical characteristics of interstellar, interplanetary, and planetary dust grains provide valuable information about many issues dealing with the origin and formation of the solar system bodies, interplanetary and interstellar environments as well as various industrial processes. Understanding the microphysics of individual grains and their interaction with the surrounding environment is key to properly model various conditions and interpret existing data. The theory and models of individual dust grains are well developed for environments that vary from dense planetary atmospheres to dusty plasmas to diffuse environments such is interplanetary space. However, experimental investigations of individual dust grains in equilibrium are less common, perhaps due to the difficult of these experiments. Laboratory measurements of dust grains have primarily measured ensemble properties or transient properties of single grains. A technique developed in the 1950's for ion spectroscopy, known as a quadrupole trap or 'Paul Trap', has recently been used to investigate single micron-sized dust grains. This scaled ion trap called an electrodynamic balance has been used for atmospheric aerosol research. A description of this technique is provided. Recent results from experiments to investigate the equilibrium potential of dust grains exposed to far ultraviolet light or to -,in electron or ion beam are presented. This laboratory technique ]ends itself to many applications that relate to planetary atmospheres, heliospheric environments, pre-stellar and pre-planetary conditions, and industrial settings. Several planned experimental approaches are presented. Potential experiments to investigate the interaction of multiple dust grains using an electrodynamic balance are proposed.

Spann, J. F.↗

Retrieval of Polar Stratospheric Cloud Microphysical Properties From Lidar Measurements: Dependence on Particle Shape Assumptions

Knowledge of particle sizes and number densities of polar stratospheric clouds (PSCs) is highly important, because they are critical parameters for the modeling of the ozone chemistry of the stratosphere. In situ measurements of PSC particles are rare. the main instrument for the accumulation of PSC data are lidar systems. Therefore the derivation of some microphysical properties of PSCS from the optical parameters measured by lidars would be highly beneficial for ozone research. Inversion of lidar data obtained in the presence of PSCs formed from crystalline particles type 11 and the various nitric acid tri Ydrrate (NAT) types cannot be easily accomplished, because a suitable scattering theory for small faceted crystals has not been readily available tip to now. As a consequence, the T-matrix method is commonly used for the interpretation of these PSC lidar data. Here the assumption is made that the optical properties of an ensemble of spheroids resemble those of crystalline PSCs, and microphysical properties of the PSC are inferred from the optical signatures of the PSC at two or more wavelengths. The problem with the T-matrix approach is that the assumption of spheroidal instead of faceted particles can lead to dramatically wrong results: Usually cloud particle properties are deduced from analysis of lidar profiles of backscatter ratio and depolarization ratio. The particle contribution to the backscatter ratio is given by the product of the particle number density and the backscattering cross section. The latter is proportional to the value of the particle's scattering phase function at 180 degrees scattering angle. At 180 degrees however, the phase functions of rough, faceted crystals and of spheroids with same maximum dimension differ by a factor of 6. From this it follows that for a PSC consisting of faceted crystals, the particle number density is underestimated by roughly the same factor if spheroidal particles are unrealistically assumed. We are currently developing a retrieval technique for determining the microphysical parameters of crystalline PSCs that takes into account the faceted shape of the PSC particles. This approach utilizes finite-difference time-domain (FDTD) calculations of particle optical properties. The accuracy and the free choice of the shape of the scattering particle make the FDTD technique a promising tool for the inversion of PSC lidar data. A first comparison of FDTD and T-matrix calculations will be presented.

Reichardt, Susanne↗

Uncertainty Quantification of Turbulence Model Closure Coefficients for Transonic Wall-Bounded Flows

The goal of this work was to quantify the uncertainty and sensitivity of commonly used turbulence models in Reynolds-Averaged Navier-Stokes codes due to uncertainty in the values of closure coefficients for transonic, wall-bounded flows and to rank the contribution of each coefficient to uncertainty in various output flow quantities of interest. Specifically, uncertainty quantification of turbulence model closure coefficients was performed for transonic flow over an axisymmetric bump at zero degrees angle of attack and the RAE 2822 transonic airfoil at a lift coefficient of 0.744. Three turbulence models were considered: the Spalart-Allmaras Model, Wilcox (2006) k-w Model, and the Menter Shear-Stress Trans- port Model. The FUN3D code developed by NASA Langley Research Center was used as the flow solver. The uncertainty quantification analysis employed stochastic expansions based on non-intrusive polynomial chaos as an efficient means of uncertainty propagation. Several integrated and point-quantities are considered as uncertain outputs for both CFD problems. All closure coefficients were treated as epistemic uncertain variables represented with intervals. Sobol indices were used to rank the relative contributions of each closure coefficient to the total uncertainty in the output quantities of interest. This study identified a number of closure coefficients for each turbulence model for which more information will reduce the amount of uncertainty in the output significantly for transonic, wall-bounded flows.

Schaefer, John↗

The Impact of Truth Surrogate Variance on Quality Assessment/Assurance in Wind Tunnel Testing

Minimum data volume requirements for wind tunnel testing are reviewed and shown to depend on error tolerance, response model complexity, random error variance in the measurement environment, and maximum acceptable levels of inference error risk. Distinctions are made between such related concepts as quality assurance and quality assessment in response surface modeling, as well as between precision and accuracy. Earlier research on the scaling of wind tunnel tests is extended to account for variance in the truth surrogates used at confirmation sites in the design space to validate proposed response models. A model adequacy metric is presented that represents the fraction of the design space within which model predictions can be expected to satisfy prescribed quality specifications. The impact of inference error on the assessment of response model residuals is reviewed. The number of sites where reasonably well-fitted response models actually predict inadequately is shown to be considerably less than the number of sites where residuals are out of tolerance. The significance of such inference error effects on common response model assessment strategies is examined.

DeLoach, Richard↗

Summary Report Of The FY25 Computational Fluid Dynamics Verification And Validation Exercises In The Advanced Reactor Technologies - Gas-cooled Reactor Program

Verification and Validation (V&V) of numerical tools is critical for ensuring reasonable predictions during design, safety analysis, and licensing. Recent work in the Advanced Reactor Technologies - Gas-cooled Reactor (ART-GCR) program has focused on V&V of common Computational Fluid Dynamics (CFD) tools that are used within the Untied States. This report presents an update on these CFD V&V activities. These Generation IV Forum (GIF) Very High Temperature Reactor (VHTR) Computational Methods, Validation, and Benchmarking (CMVB) is an international organization dedicated to the verification and validation of High Temperature Gas-Cooled Reactor (HTGR) simulation tools. Participation in the CMVB provides additional value to the V&V activities, as it allows for access to a wider range of data, and provides valuable benchmarking exercises. Three HTGR phenomena are targeted: Reactor Cavity Cooling System (RCCS) performance, core bypass flow, and lower plenum mixing. Simulations of the University of Wisconsin-Madison (UW-Madison) RCCS facilities are performed with Reynolds Averaged Navier-Stokes (RANS) in StarCCM+. Results are compared for both forced and natural convection conditions, with both exhibiting good agreement with experimental measurements. The Idaho National Laboratory (INL) matched index of refraction (MIR) and Korean Atomic Energy Research Institute (KAERI) bypass flow expeirments are used to validation CFD predictions of bypass flow. Simulations are performed with RANS in StarCCM+ and with Large Eddy Simulation (LES) in NekRS. Finally, preliminary simulations of the Institute of Nuclear and New Energy Technology (INET) lower plenum mixing facilities are presented. Initial work has developed models with LES, RANS, and porous media models. These preliminary models are presented and compared to each other to gauge differences in predictions with each of the three methods.

and Benchmarking (CMVB)↗

An Integrated Framework for Risk Assessment of Safety-related Digital Instrumentation and Control Systems in Nuclear Power Plants: Methodology Refinement and Exploration

This report documents activities performed by Idaho National Laboratory (INL) during Fiscal Year (FY) 2023 for the U.S. Department of Energy (DOE) Light Water Reactor Sustainability (LWRS) Program, Risk Informed Systems Analysis (RISA) Pathway, digital instrumentation and control (DI&C) risk assessment project. In FY 2019, the RISA Pathway initiated a project to develop a risk assessment strategy for delivering a technical basis to support effective, and secure DI&C technologies for digital upgrades/designs. A risk assessment-informed framework was proposed for this strategy, which aims to (1) provide a best-estimate, risk informed capability to quantitatively estimate the safety margin obtained from plant modernization, especially for safety-related DI&C systems, (2) support and supplement existing risk informed DI&C design guides by providing quantitative risk information and evidence, (3) offer a capability of design architecture evaluation of various DI&C systems, (4) assure the long-term safety and reliability of safety-related DI&C systems, and (5) reduce uncertainty in costs and support integration of DI&C systems in the plant. To achieve these technical goals, the LWRS-developed framework provides a means to address relevant technical issues by: (1) defining a risk informed analysis process for DI&C upgrade that integrates hazard analysis, reliability analysis, and consequence analysis, (2) applying risk informed tools to address common cause failures (CCFs) and quantify corresponding failure probabilities for DI&C technologies, particularly software CCFs, (3) evaluating the impact of digital failures at the component level, system level, and plant level, and (4) providing insights and suggestions on designs to manage the risks, thus to support the development and deployment of advanced DI&C technologies in nuclear power plants (NPPs). Adding diversity within a system or components is the primary means to eliminate and mitigate CCFs, but diversity also increases system complexity and may not address all sources of systematic failures. Optimization of diversity and redundancy applications for the safety-critical DI&C systems remains a challenge. To deal with the technical issues in addressing potential software CCFs in safety-related DI&C systems of NPPs and supporting relevant design optimization, the proposed framework provides: (a) A best-estimate, risk informed capability to address new technical digital issues quantitatively, focusing on software CCFs in safety-related DI&C systems of NPPs; (b) A common and a modularized platform for DI&C designers, software developers, cybersecurity analysts, and plant engineers to predict and prevent risk in the early design stage of DI&C systems; (c) Technical bases and risk informed insights to assist users address the risk informed alternatives for evaluation of CCFs in safety-related DI&C systems of NPPs; and (d) A risk informed tool that offers a capability of design architecture evaluation of various DI&C systems to support system design decisions in diversity and redundancy applications. The research and development efforts of this project in FY 2023 are focused on refining current methods on software CCF modeling and estimation and exploring additional innovative approaches to risk assessment of DI&C systems to enable a more comprehensive and complete assessment of various safety-related DI&C design architectures. The primary audience of this report are DI&C designers, engineers, and probabilistic risk assessment (PRA) practitioners. This includes stakeholders, such as the nuclear utilities and regulators who consider the deployment and upgrade of DI&C systems, DI&C software developers and reviewers, and cybersecurity specialists. It should be noted that all the analyses are performed for the demonstration of the methodology, not for the evaluation of an actual digital control system. Results are obtained based on limited design information and testing data.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

Systems simulations supporting NASA telerobotics

Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. This paper describes both ROBSIM and TRSS, including their capability, status, and future plans. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL.

Harrison, F. Wallace, Jr.↗

Systems simulations supporting NASA telerobotics

Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. Both ROBSIM and TRSS, including their capability, status, and future plans are discussed. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL.

Harrison, F. W., Jr.↗