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All sources NASA NTRS DOE OSTI

DOE OSTI2023

Integrate FARM with PID controllers: IES Simulation Ecosystem Control System Development

The FARM (Feasible Actuator Range Modifier) software module is a component of the RAVEN-based FORCE framework for analysis of Integrated Energy Systems (IES). FARM was designed to support the HERON software module in the solution of the optimal dispatch problem for IES units. As the result of HERON-FARM dispatch simulation, the set-point trajectories are optimized to meet constraints on both the production variables (i.e., the variables to be optimized such as the electrical power, the hydrogen production rate, etc.) and the process variables tied to the service life of equipment (e.g., steam flowrate, vessel pressure, turbine firing temperature, etc.) at a coarse time resolution (every 10 or 100 seconds) over long time horizons (several days or weeks). In case the operational constraints need to be met at finer time resolution, the computational burden of HERON-FARM would linearly increase with the sampling rate, and sub-optimal solutions might be obtained. System responses characterized by overshoots and damped oscillations temporarily violating the imposed constraints might occur during abrupt power transients. In this report, a hierarchical control system architecture for the operation of the Dynamic Energy Technology and Integration Laboratory (DETAIL) facility constructed at INL was proposed. First, the preliminary studies on the proposed control strategy for operating the facility and the designed PI controllers were reviewed. In particular, the current approach for generating the set-point trajectories was studied, and its limits were identified. To this aim, the inclusion of a Supervisory Control layer embedding a modified version of the FARM algorithm for preserving the system safe operation over both long and real-time horizons was proposed. In this way, FARM would be applied twice, i.e., the original version (“FARM Validator”) aiding the solution of the power dispatch problem, and the modified version (“FARM Supervisory” coordinating the PI controllers to address the real-time control tasks. Despite the kernel of the two modules is the same algorithm, their roles, tasks, and capabilities are quite different. A detailed description of the role of FARM at addressing low-level control tasks is provided, along with tentative operational procedures for training the models embedded into the algorithm by using the collected experimental data.

42 ENGINEERING↗

NASA NTRS1987

Space telerobotic systems: Applications and concepts

The definition of a variety of assembly, servicing, and maintenance missions has led to the generation of a number of space telerobot concepts. The remote operation of a space telerobot is seen as a means to increase astronaut productivity. Dexterous manipulator arms are controlled from the Space Shuttle Orbiter cabin or a Space Station module. Concepts for the telerobotic work system have been developed by the Lyndon B. Johnson Space Center through contracts with the Grumman Aerospace Corporation and Marin Marietta Corporation. These studies defined a concept for a telerobot with extravehicular activity (EVA) astronaut equivalent capability that would be controlled from the Space Shuttle. An evolutionary development of the system is proposed as a means of incorporating technology advances. Early flight testing is seen as needed to address the uncertainties of robotic manipulation in space. Space robotics can be expected to spin off technology to terrestrial robots, particularly in hazardous and unstructured applications.

Jenkins, L.↗

NASA NTRS1991

A parallel-pipelined architecture for a multi carrier demodulator

Analog devices have been used for processing the information on board the satellites. Presently, digital devices are being used because they are economical and flexible as compared to their analog counterparts. Several schemes of digital transmission can be used depending on the data rate requirement of the user. An economical scheme of transmission for small earth stations uses single channel per carrier/frequency division multiple access (SCPC/FDMA) on the uplink and time division multiplexing (TDM) on the downlink. This is a typical communication service offered to low data rate users in commercial mass market. These channels usually pertain to either voice or data transmission. An efficient digital demodulator architecture is provided for a large number of law data rate users. A demodulator primarily consists of carrier, clock, and data recovery modules. This design uses principles of parallel processing, pipelining, and time sharing schemes to process large numbers of voice or data channels. It maintains the optimum throughput which is derived from the designed architecture and from the use of high speed components. The design is optimized for reduced power and area requirements. This is essential for satellite applications. The design is also flexible in processing a group of a varying number of channels. The algorithms that are used are verified by the use of a computer aided software engineering (CASE) tool called the Block Oriented System Simulator. The data flow, control circuitry, and interface of the hardware design is simulated in C language. Also, a multiprocessor approach is provided to map, model, and simulate the demodulation algorithms mainly from a speed view point. A hypercude based architecture implementation is provided for such a scheme of operation. The hypercube structure and the demodulation models on hypercubes are simulated in Ada.

Kwatra, S. C.↗

NASA NTRS1993

Project TIMS (Teaching Integrated Math/Science)

The goal of this project is to increase the scientific knowledge and appreciation bases and skills of pre-service and in-service middle school teachers, so as to impact positively on teaching, learning, and student retention. This report lists the objectives and summarizes the progress thus far. Included is the working draft of the TIMS (Teaching Integrated Math/Science) curriculum outline. Seven of the eight instructional subject-oriented modules are also included. The modules include informative materials and corresponding questions and educational activities in a textbook format. The subjects included here are the universe and stars; the sun and its place in the universe; our solar system; astronomical instruments and scientific measurements; the moon and eclipses; the earth's atmosphere: its nature and composition; and the earth: directions, time, and seasons. The module not included regards winds and circulation.

Edwards, Leo, Jr.↗

NASA NTRS2002

Crew Interviews: Treschev

Sergei Treschev is a Cosmonaut of the Rocket Space Corporation Energia, (RSC), from Volynsky District, Lipetsk Region (Russia). He graduated from Moscow Energy Institute. After years of intense training with RSC Energia, he was selected as International Space Station (ISS) Increment 5 flight engineer. The Expedition-Five crew (two Russian cosmonauts and one American astronaut) will stay on the station for approximately 5 months. The Multipurpose Logistics Module, or MPLM, will carry experiment racks and three stowage and resupply racks to the station. The mission will also install a component of the Canadian Arm called the Mobile Base System (MBS) to the Mobile Transporter (MT) installed during STS-110. This completes the Canadian Mobile Servicing System, or MSS. The mechanical arm will now have the capability to "inchworm" from the U.S. Lab fixture to the MSS and travel along the Truss to work sites.

Source record↗

NASA NTRS2007

High-Performance Tiled WMS and KML Web Server

This software is an Apache 2.0 module implementing a high-performance map server to support interactive map viewers and virtual planet client software. It can be used in applications that require access to very-high-resolution geolocated images, such as GIS, virtual planet applications, and flight simulators. It serves Web Map Service (WMS) requests that comply with a given request grid from an existing tile dataset. It also generates the KML super-overlay configuration files required to access the WMS image tiles.

Plesea, Lucian↗

DOE OSTI2022

Hierarchical Model-Free Transactive Control of Building Loads to Support Grid Services

Residential buildings consume 4.4 quads of electricity annually, approximately 37% of the total electricity consumption in the United States. This represents a vast resource that can be used for demand management and other ancillary services. This project aims to develop a robust, scalable hierarchical transactional control mechanism incorporating elements of model-free control (MFC) and game theory to harness buildings to provide ancillary services to the grid. This approach is being taken to address the challenges of incorporating traditional transactional control schemes into existing buildings. The challenges include small individual building sizes requiring aggregation of many buildings, unpredictable energy usage that makes model identification difficult, and satisfying the sensitive occupant comfort constraints. In the proposed approach, by separating the control mechanism into two layers above and below the load aggregator, MFC can be used below the aggregator to modulate flexible building loads in response to pricing signals with guaranteed performance. This allows the burden of identifying an accurate model of the system to be shifted to the above-aggregator layer, where fluctuations in individual building usage have less impact on predicted building system behavior. Game theory concepts can then be used to determine pricing curves and control signals among regional aggregators. Managing this control in a game-theoretic approach will allow us to build in financial incentives that increase customer engagement. Additionally, the usage of MFC necessitates less burdensome computational and communication requirements, thus, it is easily deployable on small, embedded devices. In a broader sense, developing a strategy capable of effectively incorporating residential and small commercial buildings will allow greater throughput of existing and emerging grid services in addition to future transactive energy grid management methods. Using MFC within a hierarchical control architecture will allow the shifting of existing forecasting challenges to an aggregate level, where dynamics are slower and more predictable. This will enable a smooth interface between the grid services requests of utilities and the reliable control required by participating buildings. MFC, which supports distributed control architecture, permits a scalable solution that can be deployed to neighborhood-size systems as well as individual buildings. This project focuses on three objectives: (1) developing the mathematical framework, algorithm toolkit, and software toolset of the two-layer transactive control testbed; (2) developing a scalable solution for application over many residential and small-size commercial buildings with sparse distributed communication; and (3) field testing and implementation on hardware of the control strategies developed in the previous two objectives. The research and development activities are focused and designed to be impactful within the relevant 2025 targets timeframe. An open-source control framework for exploiting variability and dispatchability of building loads will be delivered as the outcome of the project. This capability enables greater participation of loads in electricity markets and ancillary services that are both useful for the utility and financially beneficial for building owners.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗

DOE OSTI2016

SU-F-T-304: Complex Multi-PTV Treatment Evaluation Using a Remotely Processed 3D Gel Dosimeter

Purpose: A new 3D gel dosimeter (ClearView™, Modus Medical Systems) was investigated for use as a QA tool for stereotactic radiosurgery (SRS) plans exhibiting high dose gradients and spatially separated treatment targets. The unique feature of this gel dosimeter is the remote processing service provided by Modus Medical Systems. Methods: The gel dosimeters were filled in either 10 cm diameter or 15 cm diameter clear plastic jars. The jars were then shipped in ice-cooled containers to our department for irradiation. Clinical SRS plans for treatment of multiple metastases and plans with simulated concave structures were applied to a CT scan of the gel dosimeter. The gel was irradiated in treatment position using modulated arcs and then returned in the cooled container for processing. The 3D gel dose was compared to the DICOM-RT dose from the treatment plan to assess dosimetric and geometric agreement. Results: There was no discernible difference between the planned and measured dose for dose gradients as high as 10%/mm, which was the highest gradient we evaluated. Geometric agreement for distant metastases separated by 6 cm was within 1.5 mm. Among three identically irradiated gels using a plan intended for nine metastases, the 3%/3mm gamma passing rate was 84.5% with a range of 14.7%, measured over the entire volume of the dosimeter. Regions of larger gamma values correlated with geometric offsets between the planned and measured data. Conclusion: The gel dosimeter exhibits the dosimetric and geometric characteristics necessary for 3D evaluation of treatment plan deliverability. The range of observed gamma passing rates suggests a high sensitivity to geometric registration. With proper management of geometric registration between planned and measured data, this service should enable a radiation oncology department to use 3D dosimetry in end-to-end testing or patient plan delivery QA without the expense of an in-house processing system.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2015

Cementitious Barriers Partnerships (FY2015 Mid-Year Status Report)

The DOE-EM Office of Tank Waste Management Cementitious Barriers Partnership (CBP) is chartered with providing the technical basis for implementing cement-based waste forms and radioactive waste containment structures for long-term disposal. Therefore, the CBP ultimate purpose is to support progress in final treatment and disposal of legacy waste and closure of High-Level Waste (HLW) tanks in the DOE complex. This status report highlights the CBP 2015 Software and Experimental Program efforts and accomplishments that support DOE needs in environmental cleanup and waste disposal. DOE needs in this area include: Long-term performance predictions to provide credibility (i.e., a defensible technical basis) for regulator and DOE review and approvals, Facility flow sheet development/enhancements, and Conceptual designs for new disposal facilities. In 2015, the CBP plans to release its newest version, the CBP Software Toolbox – “Version 3.0”, which will include new STADIUM carbonation and damage models, a new SRNL module for transport properties and flow in fractured and in-tact cementitious materials, and a new LeachXS/ORCHESTRA (LXO) oxidation module. In addition, improved STADIUM sulfate attack and chloride models will be included. This is in addition to the LXO modules for sulfate attack, carbonation, constituent leaching, and percolation with radial diffusion (for leaching and transport in cracked cementitious materials), of which will also be improved for Version 3.0. These STADIUM and LXO models are applicable and can be used by both DOE and the Nuclear Regulatory Commission (NRC) for service life and long-term performance evaluations and predictions of nuclear and radioactive waste containment structures across the DOE complex. In 2015, the Cementitious Barriers Partnership is providing tangible progress toward fulfilling the objective of developing a set of software tools and experimental programs to improve understanding and prediction of the long-term structural, hydraulic and chemical performance of cementitious barriers used in nuclear applications. To reflect this progress, CBP partners authored and are currently drafting many reports including six papers that were presented at WM2015.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2024

Advanced Oxygen-Free Electrolyzer for Ultra-Low-Cost H 2 Storage for Fossil Plants (Final Technical Report)

DOE’s Office of Fossil Energy and Carbon Management has determined that long-duration energy storage solutions co-located with fossil energy assets offer significant benefits to the fossil industry, electric utilities, and customers. T2M Global has developed an Advanced O 2 -Free Electrolyzer System (AES) Technology for low-cost, long-duration H 2 energy storage for fossil plants. The MW-class AES Module conceptual design aims to upgrade stranded assets (dilute/waste syngas streams, excess electricity, and waste heat) at fossil plants to higher value H 2 for additional revenue and greater sustainability. The H 2 energy storage equips fossil plants with the load following capability needed for the lucrative grid-support services market created by Variable Renewable Energy resources.

08 HYDROGEN↗

NASA NTRS1979

Mass Driver Two - Cryogenic module

The cryogenic module of Mass Driver Two comprises a 3.25 inch (82.55 mm) OD bucket with two 44 kilo-ampere-turn coils made with .028 inch (.71 mm) diam niobium-titanium multi-filamentary cable in a copper matrix, impregnated with lead alloy for thermal inertia, as well as the service station to refrigerate, energize and eject the bucket. The station is housed in a six inch flanged pyrex cross which connects to the four inch pyrex tube of the mass driver itself. The bucket is refrigerated by being forced against a copper braid cradle attached to the bottom of a liquid helium reservoir which protrudes into the cross from above. The bucket is energized inductively by turning off two superconducting coils which are also attached to the helium reservoir, and which have maintained the correct flux linkage through the bucket coils during their cool-down through the critical temperature. Once charging is completed, the clamping pressure is released and the bucket is injected into the mass driver by means of two normal-conductor pulse coils surrounding the horizontal branches of the cross.

Fine, K.↗

NASA NTRS1988

Rearrangement procedures in regenerative multibeammobile communications satellites with frequency reuse

After a short overview on the European tendencies about a Land Mobile Satellite Service, this paper describes an advanced system architecture, based on multiple spot-beams and on-board processing, capable of providing message and voice services over a wide European coverage, including some North-Africa and Middle-East countries. A remarkable problem associated with spot-beam configurations is the requirement for flexibility in the capacity offer to the various coverage areas. This means incorporating procedures for changing the on-board modulator-to-spot associations, respecting the constraints imposed by frequency reuse. After discussing the requirements of the rearrangement procedure, an on-purpose algorithm is presented. This paper is derived from work performed on contract to the European Space Agency (ESA).

Colombo, Gianni↗

NASA NTRS2004

Epoxy Adhesives for Stator Magnet Assembly in Stirling Radioisotope Generators (SRG)

As NASA seeks to fulfill its goals of exploration and understanding through missions planned to visit the moons of Saturn and beyond, a number of challenges arise from the idea of deep space flight. One of the first problems associated with deep space travel is electrical power production for systems on the spacecraft. Conventional methods such as solar power are not practical because efficiency decreases substantially as the craft moves away from the Sun. The criterion for power generation during deep space missions are very specific, the main points requiring high reliability, low mass, minimal vibration and a long lifespan. A Stirling generator, although fairly old in concept, is considered to be a potential solution for electrical power generation for deep space flight. A Stirling generator works on the same electromagnetic principles of a standard generator, using the linear motion of the alternator through the stationary stator which produces electric induction. The motion of the alternator, however, is produced by the heating and cooling dynamics of pressurized gases. Essentially heating one end and cooling another of a contained gas will cause a periodic expansion and compression of the gas from one side to the other, which a displacer translates into linear mechanical motion. NASA needs to confirm that the materials used in the generator will be able to withstand the rigors of space and the life expectancy of the mission. I am working on the verification of the epoxy adhesives used to bond magnets to the steel lamination stack to complete the stator; in terms of in-service performance and durability under various space environments. Understanding the proper curing conditions, high temperature properties, and degassing problems as well as production difficulties are crucial to the long term success of the generator. system and steel substrate used in the stator. To optimize the curing conditions of the epoxies, modulated differential scanning calorimetry analysis was done as a function of cure time and temperatures. Adhesion bond strength was tested at various temperatures with lap shear samples using Hiperco 50 substrate to ensure that the proper adhesive is being used. To try and solve the problem of bondline thickness, micro glass beads of 0.0017" in diameter were investigated to see if any other physical properties of the epoxy were affected. Efforts will be made to develop a standard, optimized, fabrication process/procedure of sub-scale magnet-stator assemblies for various adhesive performance evaluation studies under simulated generator conditions. Also, accelerated aging testing will be done in a pressurized canister with stator assembly samples for three years to verify if any degassing or thermal degradation of the epoxy occurs. The necessity of verifying the correct epoxy adhesive system for the stator magnet in the SRG is crucial because failure of the stator assembly would jeopardize the electrical system, and thereby the entire mission itself. My work involves specimen fabrications, testing, and data analyses of the epoxy adhesive system for the stator magnet in the SRG is crucial because failure of the stator assembly would jeopardize the electrical system, and thereby the entire mission itself.

Cater, George M.↗

NASA NTRS2015

SOAREX-8 Suborbital Experiments 2015 - A New Paradigm for Small Spacecraft Communication

In 2015 NASA plans to launch a payload to 280 Km altitude on a sounding rocket from the Wallops Flight Facility. This payload will contain several novel technologies that work together to demonstrate methodologies for space sample return missions and for nanosatellite communications in general. The payload will deploy and test an Exo-Brake, which slows the payload aerodynamically, providing eventual de-orbit and recovery of future ISS samples through a Small Payload Quick Return project. In addition, this flight addresses future Mars mission entry technology, space-to-space communications using the Iridium Short Messaging Service (SMS), GPS tracking, and wireless sensors using the ZigBee protocol. SOAREX-8 is being assembled and tested at Ames Research Center (ARC) and the NASA Engineering and Safety Center (NESC) is funding sensor and communications work. Open source Arduino technology and software are used for system control. The ZigBee modules used are XBee units that connect analog sensors for temperature, air pressure and acceleration measurement wirelessly to the payload telemetry system. Our team is developing methods for power distribution and module mounting, along with software for sensor integration, data assembly and downlink. We have demonstrated relaying telemetry to the ground using the Iridium satellite constellation on a previous flight, but the upcoming flight will be the first time we integrate useful flight test data from a ZigBee wireless sensor network. Wireless sensor data will measure the aerodynamic efficacy of the Exo-Brake permitting further on orbit flight tests of improved designs. The Exo-Brake is 5 sq m in area and will be stored in a container and deployed during ascent once the payload is jettisoned from the launch vehicle. We intend to further refine the hardware and continue testing on balloon launches, future sounding rocket flights and on nanosatellite missions. The use of standards-based and open source hardware/software has allowed for this project to be completed with a very modest budget and a challenging schedule. There is a wealth of hardware and software available for both the Arduino platform and the XBee, all low-cost or open-source. Along with the Exo-Brake hardware and deployment discussion, this paper will describe in detail the system architecture emphasizing the successful use of open source hardware and software to minimize effort and cost. Testing procedures, radio frequency interference (RFI) mitigation, success criteria and expected results will also be discussed. The use of Iridium short messaging capability for space-to-space links, standards-based wireless sensor networks, and other innovative communications technology are also presented.

aerobrake↗

DOE OSTI2018

KM-IT Mobile Platform for D and D - 18300

Knowledge management (KM) is the practice or process responsible for gathering, analyzing, storing and sharing insights, experiences, knowledge, and information within an organization or community. The main focus of the Knowledge Management Information Tool (KM-IT) for the deactivation and decommissioning (D and D) community is to enhance safety through improved efficiencies (e.g., by reducing the need to rediscover the knowledge and experience gained over time and to promote the reuse of the existing knowledge). KM-IT serves as a centralized information repository and a common interface for D and D related activities. It facilitates the gathering, analysis, storage and sharing of knowledge and information within the D and D community. FIU has developed eight active modules as part of the web-based mobile application for the KM-IT, which can be accessed from m.dndkm.org: Vendor, Specialist Directory, Technology, Picture Library, Hotline, Lessons Learned, Best Practices and Fixatives. All of the mobile modules are scaled-down versions of the desktop module available at www.dndkm.org and publish data from the KM-IT database to the D and D community. FIU has recently developed a native mobile application for Android mobile devices for selecting D and D fixatives. This application runs natively on mobile devices and displays data through the fixative services which uses REST-based API for communication across mobile platforms. Xamarin Forms are used to develop the front-end application for the Android operating system (OS) and will be used for future platforms (iOS and Windows) as well. The native fixative application can be installed on mobile devices to search information related to fixatives, decontamination gels and strippable coatings applicable to D and D. The KM-IT platform includes a comprehensive database of commercially available fixatives and other contamination control products. Search functionality allows the user to filter and sort these products according to the search criteria or keyword. Three levels of refinement are available via a drill down menu for the criteria. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2014

SU-E-E-07: When the Old Ways Are the Best Ways: In Defense of Didactic Training

Purpose: Physics education for residents has taken on a more prominent role due to the new ABR examination format. We present a curriculum for a new radiology residency entering its second year. This curriculum favors an extensive traditional didactic teaching approach. The curriculum is designed to minimize the amount of independent learning that is necessary outside the classroom Methods and Materials: idactic training repeats yearly for all four years of residency and consists of two 1-hour lectures per week and several in-class tests. The impact of physics on clinical practice is introduced gradually throughout the residency using specific clinical cases. The extensive time spent with the residents allows lectures to be taught at a deep (almost physicist) level and reduces the necessity of learning base concepts outside of lecture. This frees the resident to use resources (e.g., AAPM/RSNA physics modules) to cement concepts through repetition or to learn a slightly confusing concept from a different teaching perspective. Consistent testing reduces the traditional resident studying technique of physics “cramming.” Results: On average, the first year residents scored in the 98th percentile on the American College of Radiology Diagnostic Radiology In-Service Training Exam (ACR DXIT). Feedback from the new first year residents was very positive and suggestions are constantly solicited and incorporated. For example, based on resident feedback, short-format quizzes each lecture were eliminated and replaced interactive questions during lecture. Residents felt they have advanced rapidly and have a better understanding of radiologic physics, though they have expressed concern that the 1-hour lecture block may not be optimal for learning physics. Conclusion: An extensive, physicist-led series of didactic lectures is effective in the teaching of physics to residents.

96 KNOWLEDGE MANAGEMENT AND PRESERVATION↗

NASA NTRS1974

Review of extravehicular activity for Shuttle program

Extravehicular activity (EVA) is a baselined Shuttle Orbiter capability. It can provide cost-effective servicing operations for payloads, on-orbit repair, and techniques for meeting various on-orbit contingencies. The basic EVA system planned consists of Orbiter-integral provisions, carry-on life support provisions, and EVA support equipment provisions. The Orbiter-integral provisions include the internal airlock, the EVA Egress module, and the docking module, each of which provides an egress path. The carry-on life support provisions will be two Extravehicular Mobility Units (EMU), composed of an Astronaut Life Support Assembly (ALSA) and a Space Suit Assembly (SSA). The support equipment includes tethers, special tools, translation aids, and workstations. The Shuttle Orbiter EVA requirements and possible tasks, EVA crew rescue equipment and techniques, crew support, EVA training, and EVA timeline activities are described.

Covington, J. H.↗

NASA NTRS1992

Software architecture for a distributed real-time system in Ada, with application to telerobotics

The architecture structure and software design methodology presented is described in the context of telerobotic application in Ada, specifically the Engineering Test Bed (ETB), which was developed to support the Flight Telerobotic Servicer (FTS) Program at GSFC. However, the nature of the architecture is such that it has applications to any multiprocessor distributed real-time system. The ETB architecture, which is a derivation of the NASA/NBS Standard Reference Model (NASREM), defines a hierarchy for representing a telerobot system. Within this hierarchy, a module is a logical entity consisting of the software associated with a set of related hardware components in the robot system. A module is comprised of submodules, which are cyclically executing processes that each perform a specific set of functions. The submodules in a module can run on separate processors. The submodules in the system communicate via command/status (C/S) interface channels, which are used to send commands down and relay status back up the system hierarchy. Submodules also communicate via setpoint data links, which are used to transfer control data from one submodule to another. A submodule invokes submodule algorithms (SMA's) to perform algorithmic operations. Data that describe or models a physical component of the system are stored as objects in the World Model (WM). The WM is a system-wide distributed database that is accessible to submodules in all modules of the system for creating, reading, and writing objects.

Olsen, Douglas R.↗